cun
This commit is contained in:
@ -707,11 +707,8 @@ static int att_write_callback(hci_con_handle_t connection_handle, uint16_t att_h
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u16 handle = att_handle;
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log_info("write_callback, handle= 0x%04x,size = %d\n", handle, buffer_size);
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if(buffer[0] == 0xbe && buffer[1] == 0xbb){
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extern void test_func(void);
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test_func();
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}
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extern void le_user_app_event(u8* buffer);
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le_user_app_event(buffer);
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switch (handle) {
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@ -25,8 +25,8 @@
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// #define TCFG_UART0_ENABLE 0 //串口打印模块使能
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#define TCFG_UART0_RX_PORT NO_CONFIG_PORT //串口接收脚配置（用于打印可以选择NO_CONFIG_PORT）
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#define TCFG_UART0_TX_PORT IO_PORT_DP //串口发送脚配置
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// #define TCFG_UART0_BAUDRATE 1000000 //串口波特率配置
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#define TCFG_UART0_BAUDRATE 115200 //串口波特率配置
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#define TCFG_UART0_BAUDRATE 1000000 //串口波特率配置
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// #define TCFG_UART0_BAUDRATE 115200 //串口波特率配置
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//*********************************************************************************//
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// IIC配置 //
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@ -9,11 +9,19 @@ void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 ele
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cb->head = 0;
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cb->tail = 0;
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cb->size = 0;
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os_mutex_create(&cb->mutex);
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}
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// 销毁环形缓冲区
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void circle_buffer_deinit(circle_buffer_t *cb) {
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os_mutex_del(&cb->mutex, 0);
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}
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// 向环形缓冲区写入一个元素
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bool circle_buffer_write(circle_buffer_t *cb, const void *element) {
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os_mutex_pend(&cb->mutex, 0);
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if (circle_buffer_is_full(cb)) {
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os_mutex_post(&cb->mutex);
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return false; // 缓冲区已满
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}
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@ -22,12 +30,15 @@ bool circle_buffer_write(circle_buffer_t *cb, const void *element) {
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cb->head = (cb->head + 1) % cb->capacity;
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cb->size++;
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os_mutex_post(&cb->mutex);
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return true;
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}
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// 从环形缓冲区读取一个元素
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bool circle_buffer_read(circle_buffer_t *cb, void *element) {
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os_mutex_pend(&cb->mutex, 0);
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if (circle_buffer_is_empty(cb)) {
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os_mutex_post(&cb->mutex);
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return false; // 缓冲区为空
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}
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@ -36,25 +47,38 @@ bool circle_buffer_read(circle_buffer_t *cb, void *element) {
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cb->tail = (cb->tail + 1) % cb->capacity;
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cb->size--;
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os_mutex_post(&cb->mutex);
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return true;
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}
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// 获取已用空间的大小（以元素为单位）
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u16 circle_buffer_get_size(circle_buffer_t *cb) {
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return cb->size;
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os_mutex_pend(&cb->mutex, 0);
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u16 size = cb->size;
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os_mutex_post(&cb->mutex);
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return size;
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}
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// 获取剩余空间的大小（以元素为单位）
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u16 circle_buffer_get_free_space(circle_buffer_t *cb) {
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return cb->capacity - cb->size;
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os_mutex_pend(&cb->mutex, 0);
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u16 free_space = cb->capacity - cb->size;
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os_mutex_post(&cb->mutex);
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return free_space;
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}
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// 检查缓冲区是否已满
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bool circle_buffer_is_full(circle_buffer_t *cb) {
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return cb->size == cb->capacity;
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os_mutex_pend(&cb->mutex, 0);
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bool is_full = (cb->size == cb->capacity);
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os_mutex_post(&cb->mutex);
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return is_full;
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}
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// 检查缓冲区是否为空
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bool circle_buffer_is_empty(circle_buffer_t *cb) {
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return cb->size == 0;
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os_mutex_pend(&cb->mutex, 0);
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bool is_empty = (cb->size == 0);
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os_mutex_post(&cb->mutex);
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return is_empty;
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}
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@ -2,6 +2,7 @@
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#define CIRCLE_BUFFER_H
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#include "system/includes.h"
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#include "os/os_api.h"
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// 定义环形缓冲区的结构体
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typedef struct {
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@ -11,6 +12,7 @@ typedef struct {
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u16 head; // 头部指针（写入位置，以元素为单位）
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u16 tail; // 尾部指针（读取位置，以元素为单位）
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u16 size; // 当前已用大小（以元素为单位）
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OS_MUTEX mutex; // 用于保护缓冲区的互斥锁
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} circle_buffer_t;
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/**
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@ -22,6 +24,12 @@ typedef struct {
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*/
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void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 element_size);
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/**
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* @brief 销毁环形缓冲区，释放相关资源
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* @param cb 指向环形缓冲区结构体的指针
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*/
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void circle_buffer_deinit(circle_buffer_t *cb);
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/**
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* @brief 向环形缓冲区写入一个元素
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* @param cb 指向环形缓冲区结构体的指针
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@ -42,7 +42,10 @@
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#define xlog(format, ...) ((void)0)
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#endif
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#define SENSOR_DATA_BUFFER_SIZE 1000 // 定义缓冲区可以存储XXX个sensor_data_t元素
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#define SENSOR_DATA_BUFFER_SIZE 200 // 定义缓冲区可以存储XXX个sensor_data_t元素
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#define MPU_FIFO_INTERVAL 4 //隔多久读取六轴fifo，单位10ms
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#define MPU_FIFO_LEN 16 //(MPU_FIFO_INTERVAL*10/2.5) //400hz采用频率，那每40ms的时间，fifo就有16组六轴数据
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//
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///////////////////////////////////////////////////////////////////////////////////////////////////
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@ -52,7 +55,6 @@
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void send_data_to_ble_client(const u8* data, u16 length);
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extern void create_process(u16* pid, const char* name, void *priv, void (*func)(void *priv), u32 msec);
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extern void close_process(u16* pid,char* name);
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void start_collect_fuc(void);
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void BLE_send_fuc(void);
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//END -- 函数定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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@ -62,35 +64,26 @@ void BLE_send_fuc(void);
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//START -- 变量定义
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static u32 timer_offset_ms = 0;
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typedef struct {
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// -- 六轴 --
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signed short SC7U22_data[6];
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// -- 磁力计 --
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uint8_t mmc5603nj_buffer[9];
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// -- 速度 --
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uint16_t speed_cms;
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// -- 气压计 --
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int16_t temperature;
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uint32_t pressure;
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// -- 左/右腿 --
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uint8_t foot_state; //1：左脚；2：右脚
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// -- 时间 --
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u32 timestamp_ms;
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typedef struct{
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signed short SC7U22_data[6]; //12字节
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int mmc5603nj_buffer[3]; //12字节
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int16_t temperature; //2
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uint32_t pressure; //4
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}sensor_package_t __attribute__((packed));
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} BLE_send_data_t;
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static int count = 0;
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typedef struct{
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uint8_t checkout_1;
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uint8_t checkout_2;
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uint8_t index;
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sensor_package_t sensor_package[MPU_FIFO_LEN];//一次蓝牙发送MPU_FIFO_LEN组传感器数据
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}ble_send_data_t; //一次蓝牙发送的数据内容
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// --- 环形缓冲区 ---
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static circle_buffer_t BLE_send_buff; // 环形缓冲区管理结构体
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BLE_send_data_t BLE_send_data[SENSOR_DATA_BUFFER_SIZE];
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static circle_buffer_t g_ble_send_cb; // 环形缓冲区管理结构体
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static ble_send_data_t g_sensor_data_storage[SENSOR_DATA_BUFFER_SIZE]; //缓冲区
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// -- 任务id --
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u16 SC7U22_calibration_id;
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u16 start_collect_fuc_id;
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u16 BLE_send_fuc_id;
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static u8 stop_ble_send_fuc_id;
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static OS_SEM receiver_ready_sem; // 用于启动同步的信号量
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//END -- 变量定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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@ -106,110 +99,154 @@ u32 get_ms_timer(void) {
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return sys_timer_get_ms() - timer_offset_ms;
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}
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// ----------------------------------------------------------------------------------------------------------------
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// --------------------------------------------定时器回调函数----------------------------------------------------------
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/**
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* @brief 六轴静态校准
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*
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*/
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void SC7U22_static_calibration(void){
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signed short acc_data_buf[3];
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signed short gyr_data_buf[3];
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float angle[3];
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float quaternion_output[3];
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static signed short combined_raw_data[6];
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static int calibration_done = 0;
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char status = 0;
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static first_set_flag = 0;
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if(first_set_flag == 0){
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first_set_flag = 1;
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set_SC7U22_Error_Flag(0);
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}
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
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status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, angle,NULL, 0, quaternion_output);
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if(status == 1){ //校准完成
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extern u16 SC7U22_calibration_id;
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extern u8 SC7U22_init;
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first_set_flag = 0;
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SC7U22_init = 0x11;
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close_process(&SC7U22_calibration_id, "SC7U22_calibration");
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u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00};
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send2_1[4] = SC7U22_init;
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send_data_to_ble_client(&send2_1,5);
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}
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if(count > 100){
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count = 0;
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char log_buffer[100];
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// snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);
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// send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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xlog("status:%d\n", status);
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xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",combined_raw_data[0],combined_raw_data[1],combined_raw_data[2],combined_raw_data[3],combined_raw_data[4],combined_raw_data[5]);
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uint8_t send[5] = {0xBB, 0xBE, 0x02, 0x00, 0x12};
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send_data_to_ble_client(&send,5); //正在校验中
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}
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count++;
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}
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/**
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* @brief 开始采集传感器数据和计算速度
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* @brief 传感器采集任务
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*
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*/
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void start_collect_fuc(void){
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// xlog("=======sensor_read_data START\n");
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static signed short combined_raw_data[6];
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static int initialized = 0;
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static int calibration_done = 0;
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char status = 0;
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BLE_send_data_t BLE_send_data_tmp;
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uint8_t mmc5603nj_buffer[9];
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signed short acc_data_buf[3];
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signed short gyr_data_buf[3];
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float angle[3];
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float quaternion_output[3];
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void sensor_collect_task(void){
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ble_send_data_t send_data;
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mmc5603nj_mag_data_t mmc5603nj_buffer;
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float temperature = 0;
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float pressure = 0;
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int interval = 0;
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signed short accx_buf[100];
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signed short accy_buf[100];
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signed short accz_buf[100];
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signed short gyrx_buf[100];
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signed short gyry_buf[100];
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signed short gyrz_buf[100];
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int fifo_num = 0;
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u8 index = 1;
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// -- 读数据 --
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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mmc5603nj_read_origin_data(mmc5603nj_buffer);
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// bmp280_read_originanl_data(&BLE_send_data_tmp.adc_P, &BLE_send_data_tmp.adc_T);
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bmp280_read_data(&temperature, &pressure);
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while(1){//4组地磁数据、16组六轴数据、1组气压计数据
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interval++;
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mmc5603nj_read_mag_data(&mmc5603nj_buffer);
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for(int i = (interval-1)*4; i < interval*4; i++){
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send_data.sensor_package[i].mmc5603nj_buffer[0] = (int32_t)(mmc5603nj_buffer.x * 1000.0f);
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send_data.sensor_package[i].mmc5603nj_buffer[1] = (int32_t)(mmc5603nj_buffer.y * 1000.0f);
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send_data.sensor_package[i].mmc5603nj_buffer[2] = (int32_t)(mmc5603nj_buffer.z * 1000.0f);
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}
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// xlog("MAG x: %.2f,y: %.2f,z: %.2f\n",mmc5603nj_buffer.x,mmc5603nj_buffer.y,mmc5603nj_buffer.z);
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if(interval >= 4){
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interval = 0;
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memset(&accx_buf, 0, sizeof(accx_buf));
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memset(&accy_buf, 0, sizeof(accy_buf));
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memset(&accz_buf, 0, sizeof(accz_buf));
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memset(&gyrx_buf, 0, sizeof(gyrx_buf));
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memset(&gyry_buf, 0, sizeof(gyry_buf));
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memset(&gyrz_buf, 0, sizeof(gyrz_buf));
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fifo_num = SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //40ms一次性读取内置fifo的数据
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bmp280_read_data(&temperature, &pressure);//每40ms读取一次
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for(int i = 0;i<MPU_FIFO_LEN;i++){
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send_data.sensor_package[i].SC7U22_data[0] = accx_buf[i]; //acc_x
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send_data.sensor_package[i].SC7U22_data[1] = accy_buf[i]; //acc_y
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send_data.sensor_package[i].SC7U22_data[2] = accz_buf[i]; //acc_z
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send_data.sensor_package[i].SC7U22_data[3] = gyrx_buf[i]; //gyr_x
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send_data.sensor_package[i].SC7U22_data[4] = gyry_buf[i]; //gyr_y
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send_data.sensor_package[i].SC7U22_data[5] = gyrz_buf[i]; //gyr_z
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send_data.sensor_package[i].temperature = (int16_t)(temperature * 1000.0f);
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send_data.sensor_package[i].pressure = (int32_t)(pressure * 1000.0f);
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memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
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#if 0
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float acc_g[3];
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float gyr_dps[3];
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acc_g[0] = (float)send_data.sensor_package[i].SC7U22_data[0] / 2048.0f;
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acc_g[1] = (float)send_data.sensor_package[i].SC7U22_data[1] / 2048.0f;
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acc_g[2] = (float)send_data.sensor_package[i].SC7U22_data[2] / 2048.0f;
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gyr_dps[0] = (float)send_data.sensor_package[i].SC7U22_data[3] * 0.061f;
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gyr_dps[1] = (float)send_data.sensor_package[i].SC7U22_data[4] * 0.061f;
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gyr_dps[2] = (float)send_data.sensor_package[i].SC7U22_data[5] * 0.061f;
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printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
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printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
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#endif
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}
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// -- 四元数 --
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status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
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// xlog("temperature: %.2f,pressure: %.2f\n",temperature,pressure);
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// xlog("fifo_num:%d\n",fifo_num);
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// -- 速度计算 --
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memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
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memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
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uint16_t speed = sensor_processing_task(acc_data_buf,gyr_data_buf,angle, quaternion_output);
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// -- 数据包装进结构体 --
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memcpy(&BLE_send_data_tmp.SC7U22_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&BLE_send_data_tmp.SC7U22_data[3], gyr_data_buf, 3 * sizeof(signed short));
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memcpy(BLE_send_data_tmp.mmc5603nj_buffer, mmc5603nj_buffer, 9);
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BLE_send_data_tmp.temperature = (int16_t)(temperature * 1000.0f);
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BLE_send_data_tmp.pressure = (int32_t)(pressure * 1000.0f);
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BLE_send_data_tmp.speed_cms = speed;
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extern u8 foot_init;
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BLE_send_data_tmp.foot_state = foot_init;
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BLE_send_data_tmp.timestamp_ms = get_ms_timer();
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send_data.checkout_1 = 0xBE;
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send_data.checkout_2 = 0xBB;
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send_data.index = index;
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// circle_buffer_write(&g_ble_send_cb, &send_data);
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// os_sem_post(&receiver_ready_sem); //通知另一个发送任务
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// -- 放进缓冲区 --
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||||
if(circle_buffer_is_full(&BLE_send_buff) == 0){
|
||||
circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
|
||||
memset(&send_data, 0, sizeof(ble_send_data_t));
|
||||
index++;
|
||||
if(index >= 0xFF) index = 1;
|
||||
// xlog("=====================%d============================\n",get_ms_timer());
|
||||
}
|
||||
|
||||
os_time_dly(1); //10ms为单位
|
||||
}
|
||||
|
||||
// xlog("=======sensor_read_data END\n");
|
||||
}
|
||||
|
||||
|
||||
|
||||
static int random = 0;
|
||||
void data_log(uint8_t* data){
|
||||
// 检查数据包头部
|
||||
if (data[0] != 0xBE || data[1] != 0xBB) {
|
||||
printf("Error: Invalid data packet header.\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// 解析包索引
|
||||
uint8_t index = data[2];
|
||||
printf("--- Parsing Data Packet Index: %d ---\n", index);
|
||||
|
||||
uint8_t* p = &data[3]; // 指向数据负载的起始位置
|
||||
|
||||
// 循环解析16组数据
|
||||
for (int i = 0; i < MPU_FIFO_LEN; i++) {
|
||||
// 1. 解析六轴传感器数据 (12 bytes)
|
||||
int16_t imu_raw[6];
|
||||
for (int j = 0; j < 6; j++) {
|
||||
// 小端模式: 低字节在前, 高字节在后
|
||||
imu_raw[j] = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
|
||||
p += 2;
|
||||
}
|
||||
float acc_g[3];
|
||||
float gyr_dps[3];
|
||||
acc_g[0] = (float)imu_raw[0] / 2048.0f;
|
||||
acc_g[1] = (float)imu_raw[1] / 2048.0f;
|
||||
acc_g[2] = (float)imu_raw[2] / 2048.0f;
|
||||
gyr_dps[0] = (float)imu_raw[3] * 0.061f;
|
||||
gyr_dps[1] = (float)imu_raw[4] * 0.061f;
|
||||
gyr_dps[2] = (float)imu_raw[5] * 0.061f;
|
||||
|
||||
// 2. 解析地磁传感器数据 (12 bytes)
|
||||
int32_t mag_raw[3];
|
||||
for (int j = 0; j < 3; j++) {
|
||||
// 小端模式
|
||||
mag_raw[j] = (int32_t)(((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) | ((uint32_t)p[1] << 8) | (uint32_t)p[0]);
|
||||
p += 4;
|
||||
}
|
||||
float mag_gauss[3];
|
||||
mag_gauss[0] = (float)mag_raw[0] / 1000.0f;
|
||||
mag_gauss[1] = (float)mag_raw[1] / 1000.0f;
|
||||
mag_gauss[2] = (float)mag_raw[2] / 1000.0f;
|
||||
|
||||
// 3. 解析温度数据 (2 bytes)
|
||||
int16_t temp_raw = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
|
||||
p += 2;
|
||||
float temperature = (float)temp_raw / 1000.0f;
|
||||
|
||||
// 4. 解析气压数据 (4 bytes)
|
||||
uint32_t press_raw = (uint32_t)(((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) | ((uint32_t)p[1] << 8) | (uint32_t)p[0]);
|
||||
p += 4;
|
||||
float pressure = (float)press_raw / 1000.0f;
|
||||
|
||||
// 打印解析后的数据
|
||||
// if(i % 4 == 0){
|
||||
printf("Package[%d]:====================\n", i);
|
||||
// printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
|
||||
// printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
|
||||
printf(" MAG(Gs): x=%.3f, y=%.3f, z=%.3f\n", mag_gauss[0], mag_gauss[1], mag_gauss[2]);
|
||||
printf(" TEMP(C): %.3f, PRESS(Pa): %.3f\n", temperature, pressure);
|
||||
// }
|
||||
|
||||
}
|
||||
printf("--- End of Packet ---\n\n");
|
||||
}
|
||||
|
||||
/**
|
||||
@ -217,187 +254,89 @@ void start_collect_fuc(void){
|
||||
*
|
||||
*/
|
||||
void BLE_send_fuc(void){
|
||||
BLE_send_data_t data_to_send;
|
||||
|
||||
if (circle_buffer_is_empty(&BLE_send_buff) == 0) {
|
||||
circle_buffer_read(&BLE_send_buff, &data_to_send);
|
||||
} else {
|
||||
// 缓冲区为空，直接返回
|
||||
return;
|
||||
}
|
||||
|
||||
// --- 封装并发送六轴传感器数据 ---
|
||||
{
|
||||
// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(12) = 16字节
|
||||
const uint8_t IMU_PACKET_LEN = 16;
|
||||
const uint8_t IMU_PAYLOAD_LEN = 13; // 类型(1) + 数据(12)
|
||||
const uint8_t IMU_TYPE = 0x01;
|
||||
ble_send_data_t send_data;
|
||||
uint8_t send_buffer[483];
|
||||
while(1){
|
||||
os_sem_pend(&receiver_ready_sem, 0); //阻塞等待
|
||||
circle_buffer_read(&g_ble_send_cb, &send_data);
|
||||
|
||||
uint8_t imu_packet[IMU_PACKET_LEN];
|
||||
// 逐字节打包数据到 send_buffer, 采用小端模式
|
||||
uint8_t *p = send_buffer;
|
||||
*p++ = send_data.checkout_1;
|
||||
*p++ = send_data.checkout_2;
|
||||
*p++ = send_data.index;
|
||||
|
||||
// 填充包头
|
||||
imu_packet[0] = 0xBB;
|
||||
imu_packet[1] = 0xBE;
|
||||
imu_packet[2] = IMU_PAYLOAD_LEN;
|
||||
imu_packet[3] = IMU_TYPE;
|
||||
// 拷贝六轴数据
|
||||
// memcpy(&imu_packet[4], data_to_send.SC7U22_data, sizeof(data_to_send.SC7U22_data));
|
||||
for (int i = 0; i < 6; i++) {
|
||||
// SC7U22_data[i] 是一个 signed short (2字节)
|
||||
// 将其低字节放在前面
|
||||
imu_packet[4 + i * 2] = (uint8_t)(data_to_send.SC7U22_data[i] & 0xFF);
|
||||
// 将其高字节放在后面
|
||||
imu_packet[4 + i * 2 + 1] = (uint8_t)((data_to_send.SC7U22_data[i] >> 8) & 0xFF);
|
||||
for (int i = 0; i < MPU_FIFO_LEN; i++) {
|
||||
sensor_package_t *pkg = &send_data.sensor_package[i];
|
||||
|
||||
// 1. 打包六轴数据 (6 * int16_t)
|
||||
for (int j = 0; j < 6; j++) {
|
||||
*p++ = (uint8_t)(pkg->SC7U22_data[j] & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->SC7U22_data[j] >> 8) & 0xFF);
|
||||
}
|
||||
|
||||
// 2. 打包地磁数据 (3 * int32_t)
|
||||
for (int j = 0; j < 3; j++) {
|
||||
*p++ = (uint8_t)(pkg->mmc5603nj_buffer[j] & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->mmc5603nj_buffer[j] >> 8) & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->mmc5603nj_buffer[j] >> 16) & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->mmc5603nj_buffer[j] >> 24) & 0xFF);
|
||||
}
|
||||
|
||||
// 3. 打包温度数据 (int16_t)
|
||||
*p++ = (uint8_t)(pkg->temperature & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->temperature >> 8) & 0xFF);
|
||||
|
||||
// 4. 打包气压数据 (uint32_t)
|
||||
*p++ = (uint8_t)(pkg->pressure & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->pressure >> 8) & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->pressure >> 16) & 0xFF);
|
||||
*p++ = (uint8_t)((pkg->pressure >> 24) & 0xFF);
|
||||
|
||||
#if 0
|
||||
float acc_g[3];
|
||||
float gyr_dps[3];
|
||||
acc_g[0] = (float)send_data.sensor_package[i].SC7U22_data[0] / 2048.0f;
|
||||
acc_g[1] = (float)send_data.sensor_package[i].SC7U22_data[1] / 2048.0f;
|
||||
acc_g[2] = (float)send_data.sensor_package[i].SC7U22_data[2] / 2048.0f;
|
||||
gyr_dps[0] = (float)send_data.sensor_package[i].SC7U22_data[3] * 0.061f;
|
||||
gyr_dps[1] = (float)send_data.sensor_package[i].SC7U22_data[4] * 0.061f;
|
||||
gyr_dps[2] = (float)send_data.sensor_package[i].SC7U22_data[5] * 0.061f;
|
||||
printf(" ACC(g): x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
|
||||
printf(" GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
|
||||
#endif
|
||||
}
|
||||
// xlog("imu %d\n",data_to_send.SC7U22_data[0]);
|
||||
// xlog("imu_packet: 0x%x 0x%x 0x%x\n",imu_packet[4],imu_packet[5],imu_packet[6]);
|
||||
send_data_to_ble_client(&imu_packet, IMU_PACKET_LEN);
|
||||
}
|
||||
|
||||
// --- 封装并发送磁力计数据 ---
|
||||
{
|
||||
// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(9) = 13字节
|
||||
const uint8_t MAG_PACKET_LEN = 13;
|
||||
const uint8_t MAG_PAYLOAD_LEN = 10; // 类型(1) + 数据(9)
|
||||
const uint8_t MAG_TYPE = 0x02;
|
||||
|
||||
uint8_t mag_packet[MAG_PACKET_LEN];
|
||||
|
||||
// 填充包头
|
||||
mag_packet[0] = 0xBB;
|
||||
mag_packet[1] = 0xBE;
|
||||
mag_packet[2] = MAG_PAYLOAD_LEN;
|
||||
mag_packet[3] = MAG_TYPE;
|
||||
// 拷贝磁力计数据
|
||||
// memcpy(&mag_packet[4], data_to_send.mmc5603nj_buffer, sizeof(data_to_send.mmc5603nj_buffer));
|
||||
for (int i = 0; i < 9; i++) {
|
||||
mag_packet[4 + i] = data_to_send.mmc5603nj_buffer[i];
|
||||
}
|
||||
// xlog("mag: 0x%x 0x%x 0x%x\n",mag_packet[4],mag_packet[5],mag_packet[6]);
|
||||
|
||||
send_data_to_ble_client(&mag_packet, MAG_PACKET_LEN);
|
||||
}
|
||||
|
||||
// --- 封装并发送压力机计数据 ---
|
||||
{
|
||||
// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(6) = 10字节
|
||||
const uint8_t PT_PACKET_LEN = 10;
|
||||
const uint8_t PT_PAYLOAD_LEN = 7; // 类型(1) + 数据(6)
|
||||
const uint8_t PT_TYPE = 0x03;
|
||||
uint8_t pt_packet[PT_PACKET_LEN];
|
||||
// 填充包头
|
||||
pt_packet[0] = 0xBB;
|
||||
pt_packet[1] = 0xBE;
|
||||
pt_packet[2] = PT_PAYLOAD_LEN;
|
||||
pt_packet[3] = PT_TYPE;
|
||||
|
||||
// 直接发送 int16_t 的二进制补码
|
||||
pt_packet[4] = (uint8_t)(data_to_send.temperature & 0xFF); // 低字节
|
||||
pt_packet[5] = (uint8_t)((data_to_send.temperature >> 8) & 0xFF); // 高字节
|
||||
|
||||
// 气压 (保持不变)
|
||||
pt_packet[6] = (uint8_t)(data_to_send.pressure & 0xFF);
|
||||
pt_packet[7] = (uint8_t)((data_to_send.pressure >> 8) & 0xFF);
|
||||
pt_packet[8] = (uint8_t)((data_to_send.pressure >> 16) & 0xFF);
|
||||
pt_packet[9] = (uint8_t)((data_to_send.pressure >> 24) & 0xFF);
|
||||
|
||||
send_data_to_ble_client(&pt_packet, PT_PACKET_LEN);
|
||||
}
|
||||
|
||||
|
||||
// --- 封装并发送速度数据 ---
|
||||
{
|
||||
// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(2) = 6字节
|
||||
const uint8_t SPEED_PACKET_LEN = 6;
|
||||
const uint8_t SPEED_PAYLOAD_LEN = 3; // 类型(1) + 数据(2)
|
||||
const uint8_t SPEED_TYPE = 0x04;
|
||||
|
||||
uint8_t speed_packet[SPEED_PACKET_LEN];
|
||||
|
||||
// 填充包头
|
||||
speed_packet[0] = 0xBB;
|
||||
speed_packet[1] = 0xBE;
|
||||
// 填充长度
|
||||
speed_packet[2] = SPEED_PAYLOAD_LEN;
|
||||
// 填充类型
|
||||
speed_packet[3] = SPEED_TYPE;
|
||||
|
||||
// 小端模式
|
||||
speed_packet[4] = (uint8_t)(data_to_send.speed_cms & 0xFF); // 低字节
|
||||
speed_packet[5] = (uint8_t)((data_to_send.speed_cms >> 8) & 0xFF); // 高字节
|
||||
|
||||
send_data_to_ble_client(&speed_packet, SPEED_PACKET_LEN);
|
||||
}
|
||||
|
||||
// --- 封装并发送数据 ---
|
||||
{
|
||||
// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(5) = 9字节
|
||||
const uint8_t OTHER_PACKET_LEN = 9;
|
||||
const uint8_t OTHER_PAYLOAD_LEN = 6; // 类型(1) + 数据(5)
|
||||
const uint8_t OTHER_TYPE = 0x05;
|
||||
|
||||
uint8_t oher_packet[OTHER_PACKET_LEN];
|
||||
|
||||
// 填充包头
|
||||
oher_packet[0] = 0xBB;
|
||||
oher_packet[1] = 0xBE;
|
||||
// 填充长度
|
||||
oher_packet[2] = OTHER_PAYLOAD_LEN;
|
||||
// 填充类型
|
||||
oher_packet[3] = OTHER_TYPE;
|
||||
|
||||
// 小端模式
|
||||
oher_packet[4] = (uint8_t)data_to_send.foot_state; // 数据来源
|
||||
|
||||
oher_packet[5] = (uint8_t)((data_to_send.timestamp_ms >> 0) & 0xFF); // LSB
|
||||
oher_packet[6] = (uint8_t)((data_to_send.timestamp_ms >> 8) & 0xFF);
|
||||
oher_packet[7] = (uint8_t)((data_to_send.timestamp_ms >> 16) & 0xFF);
|
||||
oher_packet[8] = (uint8_t)((data_to_send.timestamp_ms >> 24) & 0xFF); // MSB
|
||||
send_data_to_ble_client(&oher_packet, OTHER_PACKET_LEN);
|
||||
// send_data_to_ble_client(send_buffer, 3 + sizeof(send_data.sensor_package)); // 发送数据
|
||||
data_log(send_buffer);
|
||||
}
|
||||
}
|
||||
|
||||
void stop_BLE_send_fuc(void){
|
||||
if (circle_buffer_is_empty(&BLE_send_buff)) {
|
||||
close_process(&BLE_send_fuc_id,"BLE_send_fuc");
|
||||
close_process(&stop_ble_send_fuc_id,"stop_BLE_send_fuc");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// ------------------------------------------------------------------------------------------------------
|
||||
// ------------------------------------------------------------------------------------------------------
|
||||
|
||||
|
||||
/**
|
||||
* @brief 六轴静态校验
|
||||
*
|
||||
*/
|
||||
void start_calibration(void){
|
||||
create_process(&SC7U22_calibration_id,"SC7U22_calibration",NULL,SC7U22_static_calibration,10);
|
||||
}
|
||||
|
||||
void stop_calibration(void){
|
||||
close_process(&SC7U22_calibration_id, "SC7U22_calibration");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 开始采集传感器数据并通过ble发送
|
||||
*
|
||||
*/
|
||||
void start_clloct(void){
|
||||
reset_ms_timer();
|
||||
create_process(&start_collect_fuc_id,"start_collect",NULL,start_collect_fuc,10);
|
||||
create_process(&BLE_send_fuc_id,"BLE_send_fuc",NULL,BLE_send_fuc,5);
|
||||
os_task_create(sensor_collect_task,NULL,5,1024,32,"sensor_collect_task");
|
||||
os_task_create(BLE_send_fuc,NULL,5,1024,32,"BLE_send_fuc");
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 停止采集和ble发送
|
||||
*
|
||||
*/
|
||||
void stop_clloct(void){
|
||||
close_process(&start_collect_fuc_id,"start_collect");
|
||||
close_process(&BLE_send_fuc_id,"BLE_send_fuc");
|
||||
// create_process(&stop_ble_send_fuc_id,"stop_BLE_send_fuc",NULL,stop_BLE_send_fuc,500); //等缓冲区内容发送完，才停止ble发送任务
|
||||
os_task_del_req("sensor_collect_task");
|
||||
os_task_del_req("BLE_send_fuc");
|
||||
}
|
||||
|
||||
/**
|
||||
@ -422,9 +361,9 @@ void xtell_task_create(void){
|
||||
|
||||
xlog("xtell_task_create\n");
|
||||
|
||||
circle_buffer_init(&BLE_send_buff, BLE_send_data, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
|
||||
|
||||
circle_buffer_init(&g_ble_send_cb, g_sensor_data_storage, SENSOR_DATA_BUFFER_SIZE, sizeof(ble_send_data_t));
|
||||
|
||||
os_sem_create(&receiver_ready_sem, 0);
|
||||
|
||||
}
|
||||
|
||||
@ -434,66 +373,6 @@ void xtell_task_create(void){
|
||||
//test
|
||||
//
|
||||
|
||||
/**
|
||||
* @brief 开始采集传感器数据和计算速度
|
||||
*
|
||||
*/
|
||||
void sensor_task(void){
|
||||
while(1){
|
||||
// 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;
|
||||
BLE_send_data_t BLE_send_data_tmp;
|
||||
uint8_t mmc5603nj_buffer[9];
|
||||
signed short acc_data_buf[3];
|
||||
signed short gyr_data_buf[3];
|
||||
float angle[3];
|
||||
float quaternion_output[3];
|
||||
|
||||
float temperature = 0;
|
||||
float pressure = 0;
|
||||
|
||||
// -- 读数据 --
|
||||
SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
|
||||
mmc5603nj_read_origin_data(mmc5603nj_buffer);
|
||||
// bmp280_read_originanl_data(&BLE_send_data_tmp.adc_P, &BLE_send_data_tmp.adc_T);
|
||||
bmp280_read_data(&temperature, &pressure);
|
||||
|
||||
memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
|
||||
memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
|
||||
|
||||
// -- 四元数 --
|
||||
status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
|
||||
|
||||
// -- 速度计算 --
|
||||
memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
|
||||
memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
|
||||
uint16_t speed = sensor_processing_task(acc_data_buf,gyr_data_buf,angle, quaternion_output);
|
||||
|
||||
// -- 数据包装进结构体 --
|
||||
memcpy(&BLE_send_data_tmp.SC7U22_data[0], acc_data_buf, 3 * sizeof(signed short));
|
||||
memcpy(&BLE_send_data_tmp.SC7U22_data[3], gyr_data_buf, 3 * sizeof(signed short));
|
||||
memcpy(BLE_send_data_tmp.mmc5603nj_buffer, mmc5603nj_buffer, 9);
|
||||
BLE_send_data_tmp.temperature = (int16_t)(temperature * 1000.0f);
|
||||
BLE_send_data_tmp.pressure = (int32_t)(pressure * 1000.0f);
|
||||
BLE_send_data_tmp.speed_cms = speed;
|
||||
extern u8 foot_init;
|
||||
BLE_send_data_tmp.foot_state = foot_init;
|
||||
BLE_send_data_tmp.timestamp_ms = get_ms_timer();
|
||||
|
||||
// -- 放进缓冲区 --
|
||||
if(circle_buffer_is_full(&BLE_send_buff) == 0){
|
||||
circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
|
||||
}
|
||||
|
||||
// xlog("=======sensor_read_data END\n");
|
||||
os_time_dly(1);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
#define BUFF_LEN 500
|
||||
static signed char acc_data_buf[BUFF_LEN] = {0};
|
||||
// 1. 定义一个全局的信号量
|
||||
@ -556,6 +435,12 @@ void test_func(void){
|
||||
for(int i = 0;i<BUFF_LEN;i++){
|
||||
acc_data_buf[i] = i;
|
||||
}
|
||||
os_task_create(data_send_task,NULL,5,1024,32,"data_send_task");
|
||||
|
||||
SL_SC7U22_Config();
|
||||
mmc5603nj_init();
|
||||
bmp280_init();
|
||||
os_task_create(BLE_send_fuc,NULL,5,1024,32,"BLE_send_fuc");
|
||||
os_task_create(sensor_collect_task,NULL,5,1024,32,"sensor_collect_task");
|
||||
|
||||
// data_send_task();
|
||||
}
|
||||
@ -1,5 +1,10 @@
|
||||
/*
|
||||
气压计
|
||||
根据手册，对于室内导航的配置推荐：
|
||||
t_standby=0.5ms, filter=16, spi_en=0
|
||||
osrs_t=x2, osrs_p=x16, mode=normal
|
||||
采样率为26.3Hz，外部每40ms读取一次
|
||||
|
||||
*/
|
||||
#include "BMP280.h"
|
||||
#include <string.h>
|
||||
|
||||
@ -1,3 +1,7 @@
|
||||
/*
|
||||
MMC5603nj
|
||||
1-255的采样率，这里设置为200Hz,5ms
|
||||
*/
|
||||
|
||||
#include "MMC56.h"
|
||||
#include "math.h"
|
||||
@ -41,13 +45,15 @@ int mmc5603nj_init(void) {
|
||||
|
||||
// 设置20位分辨率 (BW[1:0] = 11)
|
||||
// 同时确保所有轴都使能 (X/Y/Z_inhibit = 0)
|
||||
// mmc5603nj_write_reg(MMC_INCTRL1, 0x03);
|
||||
mmc5603nj_write_reg(MMC_INCTRL1, 0x03);
|
||||
os_time_dly(1);
|
||||
|
||||
// 设置内部控制寄存器2
|
||||
// CMM_EN = 1 (使能连续模式功能)
|
||||
// HPOWER = 1 (高功耗模式，更稳定)
|
||||
mmc5603nj_write_reg(MMC_INCTRL2, 0x90); // 0b10010000
|
||||
// HPOWER = 0
|
||||
// mmc5603nj_write_reg(MMC_INCTRL2, 0x10); // 0b00010000
|
||||
mmc5603nj_write_reg(MMC_INCTRL2, 0x10); // 0b10010000
|
||||
|
||||
// 设置自动SET/RESET功能
|
||||
// AUTO_SR_EN = 1
|
||||
@ -56,7 +62,8 @@ int mmc5603nj_init(void) {
|
||||
g_continuous_mode_enabled = 0;
|
||||
printf("MMC5603NJ initialized successfully.\n");
|
||||
|
||||
mmc5603nj_enable_continuous_mode(0x04);
|
||||
// mmc5603nj_enable_continuous_mode(0xC8); //200Hz的采样率，最高支持255
|
||||
mmc5603nj_enable_continuous_mode(0xCF);
|
||||
|
||||
return 1;
|
||||
}
|
||||
@ -195,7 +202,7 @@ void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
|
||||
} while ((status & 0x40) == 0 && timeout > 0);
|
||||
|
||||
if (timeout == 0) {
|
||||
printf("Error: Magnetic measurement timeout!\n");
|
||||
// printf("Error: Magnetic measurement timeout!\n");
|
||||
mag_data->x = mag_data->y = mag_data->z = 0.0f;
|
||||
return;
|
||||
}
|
||||
|
||||
@ -62,7 +62,7 @@ unsigned char SL_SC7U22_I2c_Spi_Read(unsigned char sl_spi_iic, unsigned char reg
|
||||
|
||||
static void sl_delay(unsigned char sl_i)
|
||||
{
|
||||
os_time_dly(sl_i);
|
||||
delay((int)sl_i);
|
||||
}
|
||||
|
||||
char iic_read_len;
|
||||
@ -131,10 +131,12 @@ unsigned char SL_SC7U22_Config(void)
|
||||
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0x06);//ACC_CONF 0x07=50Hz 0x06=25Hz
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//高性能模式，连续4个数据平均1次，100Hz -- lmx
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xBC);//ACC_CON 高性能模式，1600Hz -- lmx
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xBB);//ACC_CON 高性能模式，800Hz -- lmx
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xBC);//ACC_CON 高性能模式，1600Hz -- lmx
|
||||
|
||||
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//ACC_CON 高性能模式，100Hz，平均数4 -- lmx
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//ACC_CON 高性能模式，100Hz，平均数4 -- lmx
|
||||
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0x8A);//ACC_CON 高性能模式，400Hz -- lmx
|
||||
|
||||
#if ACC_RANGE==2
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x41, 0x00);//ACC_RANGE 00：±2G
|
||||
@ -153,9 +155,11 @@ unsigned char SL_SC7U22_Config(void)
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0x8C);//GYR_CONF 1600Hz -- lmx
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xAC);//GYR_CONF 1600Hz -- lmx
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xAB);//GYR_CONF 800Hz -- lmx
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xE8);//GYR_CONF 100Hz, 噪声优化开启,4个平均一次 -- lmx
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xE8);//GYR_CONF 100Hz, 噪声优化开启,4个平均一次 -- lmx
|
||||
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xCA);//GYR_CONF 噪声优化开启,高性能模式，400Hz -- lmx
|
||||
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x04, 0x50);//COM_CFG
|
||||
|
||||
@ -306,7 +310,8 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
|
||||
unsigned char header[2];
|
||||
unsigned short j;
|
||||
|
||||
#if SL_Sensor_Algo_Release_Enable==0x00 //user can set to zero
|
||||
// #if SL_Sensor_Algo_Release_Enable==0x00 //user can set to zero
|
||||
#if 0//lmx
|
||||
#if SL_SC7U22_WAIT_FIFO_LEN_ENABLE==0x00
|
||||
while((fifo_num1&0x20)!=0x20)
|
||||
{
|
||||
@ -352,7 +357,7 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
|
||||
SL_SC7U22_I2c_Spi_Read(SL_SPI_IIC_INTERFACE, 0x21, fifo_num*2, SL_SC7U22_FIFO_DATA);//读取FIFO数据 BYTE NUM
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D, 0x00);//BY PASS MODE
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D, 0x20);//Stream MODE
|
||||
xlog("SC7U22_FIFO_NUM1:%d\n",fifo_num);
|
||||
// xlog("SC7U22_FIFO_NUM1:%d\n",fifo_num);
|
||||
#if SL_Sensor_Algo_Release_Enable==0x00
|
||||
// xlog("0x1F:0x%x 0x20:0x%x\n",fifo_num1,fifo_num2);
|
||||
// xlog("SC7U22_FIFO_NUM1:%d\n",fifo_num);
|
||||
@ -400,9 +405,12 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
|
||||
{
|
||||
i = i + 2;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
fifo_len = Acc_FIFO_Num;
|
||||
// xlog("Acc_FIFO_Num:%d,Gyr_FIFO_Num:%d\n",Acc_FIFO_Num,Gyr_FIFO_Num);
|
||||
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D,0x00);
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D,0x20);
|
||||
return fifo_len;
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -14,7 +14,7 @@ Copyright (c) 2022 Silan MEMS. All Rights Reserved.
|
||||
//是否使能串口打印调试
|
||||
#define SL_Sensor_Algo_Release_Enable 0x00
|
||||
//是否开启FIFO模式，默认STREAM模式
|
||||
#define SL_SC7U22_FIFO_ENABLE 0x00
|
||||
#define SL_SC7U22_FIFO_ENABLE 0x01
|
||||
|
||||
|
||||
/***使用前请根据实际情况配置以下参数******/
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
#ifndef XTELL_H
|
||||
#define XTELL_H
|
||||
#include "system/includes.h"
|
||||
|
||||
#include "generic/typedef.h"
|
||||
// #define KS_BLE 1
|
||||
#define XTELL_TEST 1
|
||||
|
||||
|
||||
@ -191,6 +191,106 @@ static int state_machine(struct application *app, enum app_state state, struct i
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
//handle
|
||||
void le_user_app_event(u8* buffer){
|
||||
if (buffer[0] == 0xBE && buffer[1] == 0xBB) {
|
||||
if(buffer[2] == 0x01){ //后面的数据长度 1
|
||||
switch (buffer[3]){
|
||||
case 0x01:
|
||||
// extern void gsensor_test(void);
|
||||
// create_process(&gsensor_test_id,"gsensor_test",NULL,gsensor_test,1000);
|
||||
xlog("ota_test");
|
||||
cpu_reset();
|
||||
break;
|
||||
case 0xff: //测试
|
||||
u8 device_buff[10];
|
||||
u8 founds = 0;
|
||||
extern void i2c_scanner_probe(u8* device_addr, u8* found_number);
|
||||
i2c_scanner_probe(device_buff,&founds);
|
||||
for(int i = 0;i < founds;i++){
|
||||
send_data_to_ble_client(&device_buff,founds);
|
||||
}
|
||||
break;
|
||||
case 0x02:
|
||||
extern void test_func(void);
|
||||
test_func();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}else if(buffer[2] == 0x02){ //后面数据长度为2
|
||||
switch (buffer[3]){ //数据包类型
|
||||
case 0x00: //数据包类型为：指定传感器初始化
|
||||
u8 send2_0[5] = {0xBB,0xBE,0x02,0x00,0x00};
|
||||
if(buffer[4] == 0x01){ //六轴
|
||||
// stop_calibration();
|
||||
if (SL_SC7U22_Config() == 0) {
|
||||
SC7U22_init = 0x10;
|
||||
}else{
|
||||
SC7U22_init = 0x11;
|
||||
}
|
||||
send2_0[4] = SC7U22_init;
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
// start_calibration();
|
||||
}else if(buffer[4] == 0x02){ //地磁
|
||||
if(mmc5603nj_init() == 0){
|
||||
MMC5603nj_init = 0x20;
|
||||
send2_0[4] = MMC5603nj_init; //地磁初始化失败
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
return;
|
||||
}
|
||||
MMC5603nj_init = 0x21;
|
||||
send2_0[4] = MMC5603nj_init; //地磁初始化成功
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
}else if(buffer[4] == 0x03){ //气压计初始化
|
||||
if(bmp280_init() != 0){
|
||||
//初始化失败
|
||||
BMP280_init = 0x30;
|
||||
send2_0[4] = BMP280_init;
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
return;
|
||||
}
|
||||
BMP280_init = 0x31;
|
||||
send2_0[4] = BMP280_init; //气压计初始化成功
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
}
|
||||
break;
|
||||
case 0x01: //设置传感器采集对象：左脚or右脚
|
||||
u8 send2_1[9] = {0xBB,0xBE,0x06,0x05,0x00,0x00,0x00,0x00,0x00};
|
||||
if(buffer[4] == 0x01){ //设定数据来源是左脚
|
||||
foot_init = 0x41;
|
||||
}else if(buffer[4] == 0x02){//设定数据来源是右脚
|
||||
foot_init = 0x42;
|
||||
}
|
||||
send2_1[4] = foot_init;
|
||||
send_data_to_ble_client(&send2_1,9);
|
||||
break;
|
||||
case 0x02: //数据包类型为：获取指定传感器初始化状态
|
||||
u8 send2_2[5] = {0xBB,0xBE,0x02,0x00,0x00};
|
||||
if(buffer[4] == 0x01){ //六轴
|
||||
send2_2[4] = SC7U22_init;
|
||||
}else if(buffer[4] == 0x02){ //地磁
|
||||
send2_2[4] = MMC5603nj_init;
|
||||
}else if(buffer[4] == 0x03){ //气压计
|
||||
send2_2[4] = BMP280_init;
|
||||
}
|
||||
send_data_to_ble_client(&send2_2,5);
|
||||
break;
|
||||
case 0x03: //开始/停止滑雪计算
|
||||
if(buffer[4] == 0x01){ //开始滑雪计算
|
||||
if(SC7U22_init == 0x10 || MMC5603nj_init == 0x20 || BMP280_init == 0x30){ //传感器未进行初始化
|
||||
u8 send2_3[5] = {0xBB,0xBE,0x02,0x00,0x00};
|
||||
send_data_to_ble_client(&send2_3,5);
|
||||
return;
|
||||
}
|
||||
start_clloct();
|
||||
}else if(buffer[4] == 0x02){ //停止滑雪计算
|
||||
stop_clloct();
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void le_user_app_send_event(size_t command, unsigned char* data, size_t size)
|
||||
@ -246,14 +346,15 @@ void le_user_app_event_handler(struct sys_event* event){
|
||||
case 0x00: //数据包类型为：指定传感器初始化
|
||||
u8 send2_0[5] = {0xBB,0xBE,0x02,0x00,0x00};
|
||||
if(event->u.app.buffer[4] == 0x01){ //六轴
|
||||
stop_calibration();
|
||||
// stop_calibration();
|
||||
if (SL_SC7U22_Config() == 0) {
|
||||
send2_0[4] = 0x00; //初始化失败
|
||||
SC7U22_init = 0x10;
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
return;
|
||||
SC7U22_init = 0x10; //初始化失败
|
||||
}else{
|
||||
SC7U22_init = 0x11;
|
||||
}
|
||||
start_calibration();
|
||||
send2_0[4] = SC7U22_init;
|
||||
send_data_to_ble_client(&send2_0,5);
|
||||
// start_calibration();
|
||||
}else if(event->u.app.buffer[4] == 0x02){ //地磁
|
||||
if(mmc5603nj_init() == 0){
|
||||
MMC5603nj_init = 0x20;
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1318,7 +1318,7 @@ objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,sm_passkey_input,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,little_endian_read_16,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,att_get_ccc_config,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,test_func,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,le_user_app_event,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,att_set_ccc_config,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,ble_vendor_get_peer_rssi,l
|
||||
-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,set_app_connect_type,l
|
||||
@ -5299,20 +5299,19 @@ objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,app_var,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,config_update_mode,l
|
||||
objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_send_event,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sys_event_notify,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event_handler,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,printf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,i2c_scanner_probe,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,send_data_to_ble_client,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,test_func,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,stop_calibration,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,SL_SC7U22_Config,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_calibration,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,mmc5603nj_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bmp280_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_clloct,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,stop_clloct,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_send_event,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sys_event_notify,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event_handler,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,p33_soft_reset,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clk_set,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clk_get,l
|
||||
@ -5368,48 +5367,42 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sys_timer_get_ms,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,printf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,get_ms_timer,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_static_calibration,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,set_SC7U22_Error_Flag,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_RawData_Read,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,Q_SL_SC7U22_Angle_Output,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,close_process,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_collect_fuc,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_read_origin_data,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_collect_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_read_mag_data,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_FIFO_Read,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_read_data,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_processing_task,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_full,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_write,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_time_dly,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,data_log,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_fuc,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_empty,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_sem_pend,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_read,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,stop_BLE_send_fuc,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_calibration,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,create_process,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,stop_calibration,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_clloct,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_task_create,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,stop_clloct,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_task_del_req,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,xtell_task_create,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,hw_iic_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_time_dly,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_sem_create,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,on_ble_can_send,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_sem_post,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,data_send_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,test_func,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_task_create,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_calibration_id,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,foot_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_fuc_id,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_collect_fuc_id,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_Config,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,puts,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,j,pl
|
||||
objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_init,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_create,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_deinit,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_del,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_write,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_pend,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_is_full,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_post,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_read,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_is_empty,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_size,pl
|
||||
@ -5446,65 +5439,19 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_SOFT_RESET,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,os_time_dly,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_TimeStamp_Read,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_RawData_Read,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_FIFO_Read,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Open_Close_SET,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_IN_SLEEP_SET,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_WakeUp_SET,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Angle_Output,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,asinf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atanf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Original_SL_SC7U22_Angle_Output,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atan2f,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,sqrtf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,fabsf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,get_SC7U22_Error_Flag,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,set_SC7U22_Error_Flag,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_SL_SC7U22_Angle_Output,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,gravity_sensor_command,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,_gravity_sensor_get_ndata,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,delay,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,iic_write_result,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,iic_read_len,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,xt_Check_Flag,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_dot,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_dot0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_angle,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_gyro,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,R_angle,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,dt,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P2,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Pdot0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Pdot1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Pdot2,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,C_0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,C_1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,C_2,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,q_bias0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_err0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,PCt0_0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,PCt0_1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,E0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,K0_0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,K0_1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,t0_0,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,t0_1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Error_Flag,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Error_cnt,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Error_cnt2,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_Accgyro,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Error_Accgyro,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Sum_Avg_Accgyro,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Kp,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Ki,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_dt,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Error_Mag_f,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Sum_Avg_Mag_f,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_AccGyro,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_Mag,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_FIFO_DATA,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Acc_FIFO_Num,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Gyr_FIFO_Num,pl
|
||||
objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,clear_speed,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,start_detection,pl
|
||||
|
||||
Reference in New Issue
Block a user