修改了六轴配置
This commit is contained in:
@ -520,7 +520,8 @@ const struct hw_iic_config hw_iic_cfg[] = {
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{IO_PORTC_02, IO_PORTC_03}, //group c
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{IO_PORTA_05, IO_PORTA_06}, //group d
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*/
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.port = TCFG_HW_I2C0_PORTS,
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// .port = TCFG_HW_I2C0_PORTS,
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.port = {IO_PORTC_04,IO_PORTC_05}, // portB: scl、sda
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.baudrate = TCFG_HW_I2C0_CLK, //IIC通讯波特率
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.hdrive = 0, //是否打开IO口强驱
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.io_filter = 1, //是否打开滤波器（去纹波）
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@ -34,14 +34,14 @@
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#define TCFG_SW_I2C0_DAT_PORT IO_PORTA_06 //软件IIC DAT脚选择
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#define TCFG_SW_I2C0_DELAY_CNT 10 //IIC延时参数，影响通讯时钟频率
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/*硬件IIC端口选择
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/*硬件IIC端口选择 -- 具体看手册，这里写的不准 -- lmx
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SCL SDA
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'A': IO_PORT_DP IO_PORT_DM
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'B': IO_PORTA_09 IO_PORTA_10
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'C': IO_PORTA_07 IO_PORTA_08
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'D': IO_PORTA_05 IO_PORTA_06
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*/
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#define TCFG_HW_I2C0_PORTS 'D'
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#define TCFG_HW_I2C0_PORTS 'B'
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#define TCFG_HW_I2C0_CLK 100000 //硬件IIC波特率
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//*********************************************************************************//
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@ -915,7 +915,7 @@ DAC硬件上的连接方式,可选的配置：
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#define TCFG_STK8321_EN 0
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#define TCFG_IRSENSOR_ENABLE 0
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#define TCFG_JSA1221_ENABLE 0
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#define TCFG_GSENOR_USER_IIC_TYPE 0 //0:软件IIC 1:硬件IIC
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#define TCFG_GSENOR_USER_IIC_TYPE 1 //0:软件IIC 1:硬件IIC
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//*********************************************************************************//
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// imu-sensor配置 //
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@ -1,4 +1,4 @@
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# 时间间隔
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# 时间间隔 -- 软件模拟iic的情况下
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目前测试代码如下：
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@ -1,117 +1,60 @@
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#include "circle_buffer.h"
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#include <string.h>
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//START -- 宏定义
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#define ENABLE_XLOG 1
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#ifdef xlog
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#undef xlog
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#endif
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#if ENABLE_XLOG
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#define xlog(format, ...) printf("[%s] " format, __func__, ##__VA_ARGS__)
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#else
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#define xlog(format, ...) ((void)0)
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#endif
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//END -- 宏定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//START -- 变量定义
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//END -- 变量定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//START -- 函数定义
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//END -- 函数定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//实现
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// 初始化环形缓冲区
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void circle_buffer_init(circle_buffer_t *cb, u8 *buffer, u16 capacity) {
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cb->buffer = buffer;
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void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 element_size) {
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cb->buffer = (u8 *)buffer;
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cb->capacity = capacity;
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cb->element_size = element_size;
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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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}
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// 向环形缓冲区写入数据
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u16 circle_buffer_write(circle_buffer_t *cb, const u8 *data, u16 length) {
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if (length > circle_buffer_get_free_space(cb)) {
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// 如果剩余空间不足，则只写入能放下的部分
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length = circle_buffer_get_free_space(cb);
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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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if (circle_buffer_is_full(cb)) {
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return false; // 缓冲区已满
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}
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if (length == 0) {
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return 0;
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u8 *dest = cb->buffer + (cb->head * cb->element_size);
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memcpy(dest, element, cb->element_size);
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cb->head = (cb->head + 1) % cb->capacity;
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cb->size++;
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return true;
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}
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// 检查是否需要回环
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if (cb->head + length > cb->capacity) {
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u16 part1_len = cb->capacity - cb->head;
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u16 part2_len = length - part1_len;
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memcpy(cb->buffer + cb->head, data, part1_len);
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memcpy(cb->buffer, data + part1_len, part2_len);
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cb->head = part2_len;
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} else {
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memcpy(cb->buffer + cb->head, data, length);
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cb->head += length;
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if (cb->head == cb->capacity) {
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cb->head = 0;
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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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if (circle_buffer_is_empty(cb)) {
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return false; // 缓冲区为空
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}
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cb->size += length;
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return length;
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u8 *src = cb->buffer + (cb->tail * cb->element_size);
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memcpy(element, src, cb->element_size);
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cb->tail = (cb->tail + 1) % cb->capacity;
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cb->size--;
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return true;
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}
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// 从环形缓冲区读取数据
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u16 circle_buffer_read(circle_buffer_t *cb, u8 *data, u16 length) {
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if (length > cb->size) {
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// 如果要读取的长度超过了已有的数据，则只读取已有的部分
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length = cb->size;
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}
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if (length == 0) {
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return 0;
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}
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// 检查是否需要回环
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if (cb->tail + length > cb->capacity) {
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u16 part1_len = cb->capacity - cb->tail;
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u16 part2_len = length - part1_len;
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memcpy(data, cb->buffer + cb->tail, part1_len);
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memcpy(data + part1_len, cb->buffer, part2_len);
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cb->tail = part2_len;
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} else {
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memcpy(data, cb->buffer + cb->tail, length);
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cb->tail += length;
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if (cb->tail == cb->capacity) {
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cb->tail = 0;
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}
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}
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cb->size -= length;
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return length;
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}
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// 获取已用空间的大小
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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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}
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// 获取剩余空间的大小
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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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}
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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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}
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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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}
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@ -6,50 +6,65 @@
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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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u8 *buffer; // 缓冲区指针
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u16 capacity; // 缓冲区总容量
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u16 head; // 头部指针（写入位置）
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u16 tail; // 尾部指针（读取位置）
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u16 size; // 当前已用大小
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u16 capacity; // 缓冲区总容量（以元素为单位）
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u16 element_size; // 每个元素的大小（以字节为单位）
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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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} circle_buffer_t;
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/**
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* @brief 初始化环形缓冲区
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* @param cb 指向环形缓冲区结构体的指针
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* @param buffer 外部提供的缓冲区内存
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* @param capacity 缓冲区的总容量
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* @param capacity 缓冲区的总容量（以元素数量为单位）
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* @param element_size 每个元素的大小（字节）
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*/
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void circle_buffer_init(circle_buffer_t *cb, u8 *buffer, u16 capacity);
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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 向环形缓冲区写入数据
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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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* @param data 要写入的数据的指针
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* @param length 要写入的数据的长度
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* @return 实际写入的字节数
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* @param element 要写入的元素的指针
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* @return 成功返回true，失败返回false
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*/
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u16 circle_buffer_write(circle_buffer_t *cb, const u8 *data, u16 length);
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bool circle_buffer_write(circle_buffer_t *cb, const void *element);
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/**
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* @brief 从环形缓冲区读取数据
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* @brief 从环形缓冲区读取一个元素
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* @param cb 指向环形缓冲区结构体的指针
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* @param data 用于存放读取数据的缓冲区的指针
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* @param length 想要读取的数据的长度
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* @return 实际读取的字节数
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* @param element 用于存放读取元素的缓冲区的指针
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* @return 成功返回true，失败返回false
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*/
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u16 circle_buffer_read(circle_buffer_t *cb, u8 *data, u16 length);
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bool circle_buffer_read(circle_buffer_t *cb, void *element);
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/**
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* @brief 获取环形缓冲区中已用空间的大小
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* @brief 获取环形缓冲区中已用空间的大小（以元素为单位）
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* @param cb 指向环形缓冲区结构体的指针
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* @return 已用空间的大小
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* @return 已用空间的大小（元素数量）
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*/
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u16 circle_buffer_get_size(circle_buffer_t *cb);
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/**
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* @brief 获取环形缓冲区中剩余空间的大小
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* @brief 获取环形缓冲区中剩余空间的大小（以元素为单位）
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* @param cb 指向环形缓冲区结构体的指针
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* @return 剩余空间的大小
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* @return 剩余空间的大小（元素数量）
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*/
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u16 circle_buffer_get_free_space(circle_buffer_t *cb);
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/**
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* @brief 检查缓冲区是否已满
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* @param cb 指向环形缓冲区结构体的指针
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* @return 如果已满返回true，否则返回false
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*/
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bool circle_buffer_is_full(circle_buffer_t *cb);
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/**
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* @brief 检查缓冲区是否为空
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* @param cb 指向环形缓冲区结构体的指针
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* @return 如果为空返回true，否则返回false
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*/
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bool circle_buffer_is_empty(circle_buffer_t *cb);
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#endif // CIRCLE_BUFFER_H
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@ -22,13 +22,13 @@
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// 加速度模长与重力的差值大于此值，认为开始运动；降低阈值，让“油门”更灵敏，以便能捕捉到真实的慢速启动
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#define START_SKIING_ACC_THRESHOLD 0.5f
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// 陀螺仪方差阈值，以允许启动瞬间的正常抖动，但仍能过滤掉混乱的、非滑雪的晃动。
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#define SKIING_GYR_VARIANCE_THRESHOLD 15.0f
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#define SKIING_GYR_VARIANCE_THRESHOLD 20.0f
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// --- 滑雪过程 ---
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//加速度 模长，低于此值视为 在做匀速运动
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#define SKIING_ACC_MAG_THRESHOLD 0.5f
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//陀螺仪 模长，高于此值视为 摔倒了
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#define FALLEN_GRY_MAG_THRESHOLD 1000.0f //未确定
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#define FALLEN_GRY_MAG_THRESHOLD 2000.0f //未确定
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// --- 原地旋转抖动 ---
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// 用于原地旋转判断的加速度方差阈值。此值比ZUPT阈值更宽松，
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@ -41,7 +41,7 @@
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// 加速度方差阈值，大于此值，滑雪过程可能发生了急转弯
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#define WHEEL_ACC_VARIANCE_THRESHOLD 7.0f
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// 旋转/摆动检测阈值：角速度总模长大于此值(度/秒)，认为滑雪过程中进行急转弯
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#define WHEEL_GYR_MAG_THRESHOLD 220.0f // 150.0f 到 250.0f之间进行调整
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#define WHEEL_GYR_MAG_THRESHOLD 500.0f //
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// --- 用于消除积分漂移的滤波器和阈值 ---
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// 高通滤波器系数 (alpha)。alpha 越接近1，滤除低频(直流偏移)的效果越强，但可能滤掉真实的慢速运动。
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@ -54,9 +54,10 @@
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// --- 模拟摩擦力，进行速度衰减 ---
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#define SPEED_ATTENUATION 1.0f //暂不模拟
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BLE_KS_send_data_t KS_data;
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#ifdef XTELL_TEST
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BLE_KS_send_data_t KS_data;
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debug_t debug1;
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debug_t debug2;
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#endif
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@ -377,12 +378,13 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
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}else if(tracker->state == CONSTANT_SPEED){ //匀速
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#ifdef XTELL_TEST
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debug2.acc_magnitude = acc_horizontal_mag;
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#endif
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//保持上次的速度不变。只更新距离
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tracker->distance += tracker->speed * dt;
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}else if(tracker->state == WHEEL){ //匀速
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//暂时：保持上次的速度不变。只更新距离
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tracker->distance += tracker->speed * dt;
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}else{
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// 在静止或旋转状态下，速度已经在状态机内部被清零
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// 额外增加速度衰减，模拟摩擦力，进一步抑制漂移
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@ -395,10 +397,10 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
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}
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#if 0
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/**
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* @brief 传感器数据采集与处理任务，外部每10ms调用一次，如果需要更新时间间隔，也需要同步更新宏“ DELTA_TIME ”
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*
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* 使用到了卡尔曼
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* @param acc_data_buf 三轴加速度原始数据
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* @param gyr_data_buf 三轴陀螺仪原始数据
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* @return BLE_send_data_t
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@ -427,14 +429,14 @@ BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short
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unsigned char status;
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if (!calibration_done) { //第1次启动，开启零漂检测
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status = SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
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status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
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if (status == 1) {
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calibration_done = 1;
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printf("Sensor calibration successful! Skiing mode is active.\n");
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}
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} else {
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// printf("Calculate the time interval =============== start\n");
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status = SL_SC7U22_Angle_Output(0, combined_raw_data, final_angle_data, 0);
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status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, final_angle_data, 0);
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}
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if (status == 1) {
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@ -469,10 +471,11 @@ BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short
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BLE_send_data.sensor_state = status;
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BLE_send_data.skiing_state = my_skiing_tracker.state;
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for (int i = 0; i < 3; i++) {
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#ifndef XTELL_TEST
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// #ifndef XTELL_TEST
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BLE_send_data.acc_original[i] = (int)acc_data_buf[i];
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BLE_send_data.gyr_original[i] = (int)gyr_data_buf[i];
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#endif
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BLE_send_data.Angle[i] = final_angle_data[i];
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// #endif
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#if KS_BLE
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KS_data.acc_KS[i] = (int)(calibrated_acc_g[i] * G_ACCELERATION * 100); //cm/s^s
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KS_data.gyr_KS_dps[i] = (int)calibrated_gyr_dps[i];
|
||||
@ -499,3 +502,64 @@ BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short
|
||||
}
|
||||
return BLE_send_data;
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
/**
|
||||
* @brief 滑雪数据计算
|
||||
*
|
||||
* @param acc_data_buf 传入的三轴加速度数据
|
||||
* @param gyr_data_buf 传入的三轴陀螺仪数据
|
||||
* @param angle_data 传入的欧若拉角数据
|
||||
* @return BLE_send_data_t 要发送给蓝牙的数据
|
||||
*/
|
||||
BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data) {
|
||||
|
||||
static int initialized = 0;
|
||||
static float acc_data_g[3];
|
||||
static float gyr_data_dps[3];
|
||||
|
||||
// const float delta_time = DELTA_TIME+0.01f;
|
||||
// const float delta_time = DELTA_TIME + 0.005f;
|
||||
const float delta_time = DELTA_TIME+0.01f;
|
||||
BLE_send_data_t BLE_send_data;
|
||||
|
||||
if (!initialized) {
|
||||
skiing_tracker_init(&my_skiing_tracker);
|
||||
initialized = 1;
|
||||
printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
|
||||
}
|
||||
|
||||
// 加速度 LSB to g
|
||||
acc_data_g[0] = (float)acc_data_buf[0] / 8192.0f;
|
||||
acc_data_g[1] = (float)acc_data_buf[1] / 8192.0f;
|
||||
acc_data_g[2] = (float)acc_data_buf[2] / 8192.0f;
|
||||
|
||||
// 陀螺仪 LSB to dps (度/秒)
|
||||
// ±2000dps量程下，转换系数约为 0.061
|
||||
gyr_data_dps[0] = (float)gyr_data_buf[0] * 0.061f;
|
||||
gyr_data_dps[1] = (float)gyr_data_buf[1] * 0.061f;
|
||||
gyr_data_dps[2] = (float)gyr_data_buf[2] * 0.061f;
|
||||
|
||||
skiing_tracker_update(&my_skiing_tracker, acc_data_g, gyr_data_dps, angle_data, delta_time);
|
||||
|
||||
BLE_send_data.skiing_state = my_skiing_tracker.state;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
#ifdef XTELL_TEST
|
||||
BLE_send_data.acc_data[i] = (short)(acc_data_g[i] * 9.8f) * 100; //cm/^s2
|
||||
BLE_send_data.gyr_data[i] = (short)gyr_data_dps[i]; //dps
|
||||
BLE_send_data.angle_data[i] = angle_data[i];
|
||||
#else
|
||||
BLE_send_data.acc_data[i] = (short)acc_data_buf[i]; //原始adc数据
|
||||
BLE_send_data.gyr_data[i] = (short)gyr_data_buf[i]; //原始adc数据
|
||||
BLE_send_data.angle_data[i] = angle_data[i];
|
||||
#endif
|
||||
}
|
||||
BLE_send_data.speed_cms = (int)(my_skiing_tracker.speed * 100);
|
||||
BLE_send_data.distance_cm = (int)(my_skiing_tracker.distance * 100);
|
||||
// printf("Calculate the time interval =============== end\n");
|
||||
|
||||
return BLE_send_data;
|
||||
}
|
||||
|
||||
#endif
|
||||
@ -42,15 +42,14 @@ typedef struct {
|
||||
} skiing_tracker_t;
|
||||
|
||||
//ble发送的数据
|
||||
typedef struct __attribute__((packed)){ //该结构体取消内存对齐
|
||||
typedef struct{ //__attribute__((packed)){ //该结构体取消内存对齐
|
||||
char sensor_state;
|
||||
char skiing_state;
|
||||
int speed_cms; //求出的速度，cm/s
|
||||
int distance_cm; //求出的距离，cm
|
||||
#ifndef XTELL_TEST
|
||||
int acc_original[3]; //直接读取传感器得到的原始三轴加速度
|
||||
int gyr_original[3]; //直接读取传感器得到的原始三轴陀螺仪
|
||||
#endif
|
||||
short acc_data[3]; //三轴加速度, g
|
||||
short gyr_data[3]; //三轴陀螺仪, dps
|
||||
float angle_data[3]; //欧若拉角
|
||||
}BLE_send_data_t;
|
||||
|
||||
typedef struct{
|
||||
@ -74,12 +73,5 @@ typedef struct{
|
||||
*/
|
||||
void skiing_tracker_init(skiing_tracker_t *tracker);
|
||||
|
||||
/**
|
||||
* @brief 传感器数据采集与处理任务，外部每10ms调用一次，如果需要更新时间间隔，也需要同步更新宏“ DELTA_TIME ”
|
||||
*
|
||||
* @param acc_data_buf 三轴加速度原始数据
|
||||
* @param gyr_data_buf 三轴陀螺仪原始数据
|
||||
* @return BLE_send_data_t
|
||||
*/
|
||||
BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short * gyr_data_buf) ;
|
||||
BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data) ;
|
||||
#endif // SKIING_TRACKER_H
|
||||
@ -15,9 +15,8 @@
|
||||
#include "bt_profile_cfg.h"
|
||||
#include "dev_manager/dev_manager.h"
|
||||
#include "update_loader_download.h"
|
||||
#include "LIS2DH12.h"
|
||||
#include "circle_buffer.h"
|
||||
#include "circle_buffer.h"
|
||||
#include "./sensor/SC7U22.h"
|
||||
#include "./buffer/circle_buffer.h"
|
||||
#include "btstack/avctp_user.h"
|
||||
#include "calculate/skiing_tracker.h"
|
||||
#include "xtell.h"
|
||||
@ -58,7 +57,7 @@ static u16 calculate_data_id;
|
||||
static u8 sensor_data_buffer[SENSOR_DATA_BUFFER_SIZE];
|
||||
static circle_buffer_t sensor_cb;
|
||||
|
||||
BLE_send_data_t BLE_send_data;
|
||||
|
||||
//--- test ---
|
||||
// 全局变量
|
||||
u16 gsensor_id=0;
|
||||
@ -145,7 +144,8 @@ void send_sensor_data_task(void) {
|
||||
// printf("xtell_ble_send\n");
|
||||
}
|
||||
|
||||
#ifdef XTELL_TEST
|
||||
#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};
|
||||
@ -240,25 +240,156 @@ void test(){
|
||||
// xlog("end============\n");
|
||||
|
||||
}
|
||||
#else
|
||||
|
||||
|
||||
#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(){
|
||||
//读取传感器的原始六轴数据放进缓冲区
|
||||
|
||||
// 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);
|
||||
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(){
|
||||
//从缓冲区取出原始六轴数据，进行计算得到速度和距离
|
||||
//计算方面已经实现，直接调用函数就行了
|
||||
// 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;
|
||||
void BLE_send_data(){
|
||||
//蓝牙发送数据：计算得到的速度、距离以及读到的原始六轴数据
|
||||
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){
|
||||
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
|
||||
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
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -269,18 +400,32 @@ void xtell_task_create(void){
|
||||
// //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
|
||||
soft_iic_init(0);
|
||||
#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_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
|
||||
@ -289,8 +434,11 @@ void xtell_task_create(void){
|
||||
|
||||
// create_process(&test_id, "test",NULL, test, (int)(DELTA_TIME*1000));
|
||||
|
||||
create_process(&ble_send_data_id, "send",NULL, ble_send_data, (int)(DELTA_TIME*1000));
|
||||
create_process(&sensor_read_data_id, "read",NULL, sensor_read_data, (int)(DELTA_TIME*1000));
|
||||
create_process(&calculate_data_id, "calculate",NULL, calculate_data, (int)(DELTA_TIME*1000));
|
||||
create_process(&sensor_read_data_id, "read",NULL, sensor_read_data, 10);
|
||||
|
||||
create_process(&calculate_data_id, "calculate",NULL, calculate_data, 1);
|
||||
|
||||
create_process(&ble_send_data_id, "send",NULL, BLE_send_data, 1);
|
||||
|
||||
|
||||
}
|
||||
|
||||
@ -119,9 +119,18 @@ unsigned char SL_SC7U22_Config(void)
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x7D, 0x0E);//PWR_CTRL ENABLE ACC+GYR+TEMP
|
||||
os_time_dly(1);//10ms
|
||||
|
||||
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, 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, 0xAC);//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, 0x41, 0x01);//ACC_RANGE 10：±8G 01：±4G
|
||||
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0x86);//GYR_CONF 0x87=50Hz 0x86=25Hz
|
||||
|
||||
// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0x86);//GYR_CONF 0x87=50Hz 0x86=25Hz
|
||||
// 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, 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
|
||||
@ -927,6 +936,140 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short
|
||||
return 2; // 校准未完成，返回错误状态
|
||||
}
|
||||
|
||||
// =================================================================================
|
||||
// 关键参数定义 - 需要根据实际情况进行调整
|
||||
// ---------------------------------------------------------------------------------
|
||||
// 滤波系数 α (alpha)，决定了对陀螺仪和加速度计的信任程度。
|
||||
// α 越大，越相信陀螺仪，动态响应越好，但对漂移的修正越慢。
|
||||
// α 越小，越相信加速度计，对漂移的修正越快，但对运动加速度越敏感。
|
||||
// 典型值范围：0.95 ~ 0.99
|
||||
#define FILTER_ALPHA 0.98f
|
||||
|
||||
// 采样时间间隔 SAMPLE_INTERVAL (单位：秒)
|
||||
// 必须与此函数的频率严格对应。例如，100Hz 对应 0.01f。
|
||||
#define SAMPLE_INTERVAL 0.01f
|
||||
// =================================================================================
|
||||
/**
|
||||
* @brief 不带卡尔曼的欧若拉数据输出，以及消除零点漂移后的六轴数据
|
||||
*
|
||||
* @param calibration_en
|
||||
* @param acc_gyro_input
|
||||
* @param Angle_output
|
||||
* @param yaw_rst
|
||||
* @return unsigned char
|
||||
*/
|
||||
unsigned char Original_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst){
|
||||
unsigned short acc_gyro_delta[2];
|
||||
unsigned char sl_i = 0;
|
||||
float angle_acc[3] = {0};
|
||||
float gyro_val[3] = {0};
|
||||
|
||||
// 如果外部强制使能校准，则将标志位置1
|
||||
if (calibration_en == 0) {
|
||||
SL_SC7U22_Error_Flag = 1;
|
||||
}
|
||||
|
||||
// =================================================================================
|
||||
// 步骤 1: 静态校准 (此部分完全保留，不做任何修改)
|
||||
// ---------------------------------------------------------------------------------
|
||||
if (SL_SC7U22_Error_Flag == 0) {
|
||||
// ... (省略与原代码完全相同的部分以节省篇幅) ...
|
||||
// 计算当前数据与上一帧数据的差值，用于判断是否静止
|
||||
acc_gyro_delta[0] = 0;
|
||||
acc_gyro_delta[1] = 0;
|
||||
for (sl_i = 0; sl_i < 3; sl_i++) {
|
||||
acc_gyro_delta[0] += SL_GetAbsShort(acc_gyro_input[sl_i] - Temp_Accgyro[sl_i]);
|
||||
acc_gyro_delta[1] += SL_GetAbsShort(acc_gyro_input[3 + sl_i] - Temp_Accgyro[3 + sl_i]);
|
||||
}
|
||||
// 保存当前数据，用于下一帧比较
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) {
|
||||
Temp_Accgyro[sl_i] = acc_gyro_input[sl_i];
|
||||
}
|
||||
// 判断是否处于静止状态
|
||||
if ((acc_gyro_delta[0] / 8 < 160) && (acc_gyro_delta[1] < 40) && (SL_GetAbsShort(acc_gyro_input[0]) < 3000) && (SL_GetAbsShort(acc_gyro_input[1]) < 3000) && (SL_GetAbsShort(acc_gyro_input[2] - 8192) < 3000)) {
|
||||
if (SL_SC7U22_Error_cnt < 200) SL_SC7U22_Error_cnt++;
|
||||
} else {
|
||||
SL_SC7U22_Error_cnt = 0;
|
||||
}
|
||||
// 如果静止时间足够长
|
||||
if (SL_SC7U22_Error_cnt > 190) {
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) Sum_Avg_Accgyro[sl_i] += acc_gyro_input[sl_i];
|
||||
SL_SC7U22_Error_cnt2++;
|
||||
if (SL_SC7U22_Error_cnt2 > 49) {
|
||||
SL_SC7U22_Error_Flag = 1;
|
||||
SL_SC7U22_Error_cnt2 = 0;
|
||||
SL_SC7U22_Error_cnt = 0;
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) Sum_Avg_Accgyro[sl_i] = Sum_Avg_Accgyro[sl_i] / 50;
|
||||
Error_Accgyro[0] = 0 - Sum_Avg_Accgyro[0];
|
||||
Error_Accgyro[1] = 0 - Sum_Avg_Accgyro[1];
|
||||
Error_Accgyro[2] = 8192 - Sum_Avg_Accgyro[2];
|
||||
Error_Accgyro[3] = 0 - Sum_Avg_Accgyro[3];
|
||||
Error_Accgyro[4] = 0 - Sum_Avg_Accgyro[4];
|
||||
Error_Accgyro[5] = 0 - Sum_Avg_Accgyro[5];
|
||||
xlog("AVG_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Sum_Avg_Accgyro[0], Sum_Avg_Accgyro[1], Sum_Avg_Accgyro[2], Sum_Avg_Accgyro[3], Sum_Avg_Accgyro[4], Sum_Avg_Accgyro[5]);
|
||||
xlog("Error_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Error_Accgyro[0], Error_Accgyro[1], Error_Accgyro[2], Error_Accgyro[3], Error_Accgyro[4], Error_Accgyro[5]);
|
||||
}
|
||||
} else {
|
||||
SL_SC7U22_Error_cnt2 = 0;
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) Sum_Avg_Accgyro[sl_i] = 0;
|
||||
}
|
||||
return 0; // 返回0，表示正在校准
|
||||
}
|
||||
|
||||
// =================================================================================
|
||||
// 步骤 2: 姿态解算 (使用一阶互补滤波)
|
||||
// ---------------------------------------------------------------------------------
|
||||
if (SL_SC7U22_Error_Flag == 1) { // 确认已经校准完成
|
||||
// --- 2.1 数据预处理 ---
|
||||
// 应用零点偏移补偿
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) {
|
||||
Temp_Accgyro[sl_i] = acc_gyro_input[sl_i] + Error_Accgyro[sl_i];
|
||||
}
|
||||
|
||||
// --- 2.2 使用加速度计计算姿态角 (Pitch 和 Roll) ---
|
||||
// 注意：这里使用了atan2f来计算Roll角，它比atanf更稳定，能自动处理所有象限，避免了后续的if判断。
|
||||
float acc_x = (float)Temp_Accgyro[0];
|
||||
float acc_y = (float)Temp_Accgyro[1];
|
||||
float acc_z = (float)Temp_Accgyro[2];
|
||||
|
||||
// Pitch = arcsin(ax / g)
|
||||
angle_acc[0] = asinf(acc_x / sqrtf(acc_x*acc_x + acc_y*acc_y + acc_z*acc_z)) * 57.29578f;
|
||||
// Roll = arctan(ay / az)
|
||||
angle_acc[1] = atan2f(acc_y, acc_z) * 57.29578f;
|
||||
|
||||
// --- 2.3 转换陀螺仪数据单位 ---
|
||||
// 将陀螺仪原始值（LSB）转换为角速度（度/秒）
|
||||
gyro_val[0] = Temp_Accgyro[4] * 0.061; // GYR-Y -> Pitch 速率
|
||||
gyro_val[1] = Temp_Accgyro[3] * 0.061; // GYR-X -> Roll 速率
|
||||
gyro_val[2] = Temp_Accgyro[5] * 0.061; // GYR-Z -> Yaw 速率
|
||||
|
||||
// =================================================================================
|
||||
// 步骤 2.4: 一阶互补滤波
|
||||
// ---------------------------------------------------------------------------------
|
||||
// Pitch 轴融合
|
||||
Angle_output[0] = FILTER_ALPHA * (Angle_output[0] + gyro_val[0] * SAMPLE_INTERVAL) + (1.0f - FILTER_ALPHA) * angle_acc[0];
|
||||
|
||||
// Roll 轴融合
|
||||
Angle_output[1] = FILTER_ALPHA * (Angle_output[1] + gyro_val[1] * SAMPLE_INTERVAL) + (1.0f - FILTER_ALPHA) * angle_acc[1];
|
||||
|
||||
/************** Yaw 轴计算**************/
|
||||
// Yaw角无法通过加速度计（重力）来校正，因此只能使用陀螺仪进行简单积分。
|
||||
// 如果需要精确的Yaw角，必须引入磁力计进行修正。
|
||||
if (yaw_rst == 1) {
|
||||
Angle_output[2] = 0; // 如果有复位信号，则清零
|
||||
}
|
||||
// 增加一个简单的阈值，当角速度较小时，认为没有转动，以减少漂移
|
||||
if (SL_GetAbsShort(Temp_Accgyro[5]) > 8) {
|
||||
Angle_output[2] += gyro_val[2] * SAMPLE_INTERVAL;
|
||||
}
|
||||
|
||||
return 1; // 返回1，表示计算成功
|
||||
}
|
||||
|
||||
return 2; // 校准未完成，返回错误状态
|
||||
|
||||
}
|
||||
|
||||
unsigned char get_calibration_state(void){
|
||||
return SL_SC7U22_Error_Flag;
|
||||
}
|
||||
|
||||
@ -130,6 +130,8 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en,signed short *
|
||||
/**output Angle_output[2]: Yaw*******************************/
|
||||
/**input yaw_rst: reset yaw value***************************/
|
||||
|
||||
unsigned char Original_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst);
|
||||
|
||||
unsigned char get_calibration_state(void);
|
||||
/**寄存器宏定义*******************************/
|
||||
#define SC7U22_WHO_AM_I 0x01
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
#ifndef XTELL_H
|
||||
#define XTELL_H
|
||||
|
||||
#define KS_BLE 1
|
||||
// #define KS_BLE 1
|
||||
#define XTELL_TEST 1
|
||||
|
||||
|
||||
|
||||
@ -138,7 +138,7 @@ int hw_iic_init(hw_iic_dev iic)
|
||||
iic_end_pnd_clr(iic_regs[id]);
|
||||
iic_start_pnd_clr(iic_regs[id]);
|
||||
iic_enable(iic_regs[id]);
|
||||
#if 0
|
||||
#if 1
|
||||
printf("info->scl = %d\n", iic_get_scl(iic));
|
||||
printf("info->sda = %d\n", iic_get_sda(iic));
|
||||
printf("info->baudrate = %d\n", iic_info_baud(iic));
|
||||
@ -150,7 +150,7 @@ int hw_iic_init(hw_iic_dev iic)
|
||||
printf("IIC_CON1 0x%04x\n", iic_regs[id]->CON1);
|
||||
printf("IIC_BAUD 0x%02x\n", iic_regs[id]->BAUD);
|
||||
//printf("IIC_BUF %02x\n", iic_regs[id]->BUF);
|
||||
printf("IOMC1 0x%08x\n", JL_IOMAP->CON1);
|
||||
// printf("IOMC1 0x%08x\n", JL_IOMAP->CON1);
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
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@ -419,15 +419,15 @@ objs/apps/common/device/gSensor/gSensor_manage.c.o
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,write_gsensor_data_handle,pl
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,cbuf_write,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gravity_sensor_command,pl
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_start,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_tx_byte,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_start,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_tx_byte,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,delay,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_stop,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_stop,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,_gravity_sensor_get_ndata,pl
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_rx_byte,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_rx_byte,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensor_io_ctl,pl
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gravity_sensor_init,pl
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_init,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_init,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,memcmp,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,strlen,l
|
||||
-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gpio_set_pull_up,l
|
||||
@ -5452,6 +5452,7 @@ objs/cpu/br28/iic_hw.c.o
|
||||
-r=objs/cpu/br28/iic_hw.c.o,hw_iic_suspend,pl
|
||||
-r=objs/cpu/br28/iic_hw.c.o,hw_iic_resume,pl
|
||||
-r=objs/cpu/br28/iic_hw.c.o,hw_iic_init,pl
|
||||
-r=objs/cpu/br28/iic_hw.c.o,printf,l
|
||||
-r=objs/cpu/br28/iic_hw.c.o,hw_iic_uninit,pl
|
||||
-r=objs/cpu/br28/iic_hw.c.o,gpio_set_hd,l
|
||||
-r=objs/cpu/br28/iic_hw.c.o,gpio_set_pull_up,l
|
||||
@ -6346,34 +6347,40 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,ble_send_data,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,send_sensor_data_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,test,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_read_data,pl
|
||||
-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,SL_SC7U22_RawData_Read,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_Angle_Output,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,printf,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,calculate_data,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,circle_buffer_read,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,BLE_send_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,strlen,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,snprintf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,printf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gsensor_test,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sys_timer_del,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sqrtf,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,soft_iic_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,hw_iic_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_set_direction,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_set_pull_up,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_direction_output,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,SL_SC7U22_Config,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,create_process,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,puts,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gsensor_id,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,test_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,KS_data,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,debug1,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,debug2,l
|
||||
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,circle_buffer_write,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_free_space,pl
|
||||
-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,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
|
||||
-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_free_space,pl
|
||||
objs/apps/earphone/xtell_Sensor/sensor/LIS2DH12.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/LIS2DH12.c.o,LIS2DH12_Check,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/LIS2DH12.c.o,LIS2DH12_read_data,pl
|
||||
@ -6412,6 +6419,9 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
|
||||
-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,sqrtf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atan2f,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,get_calibration_state,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
|
||||
@ -6456,7 +6466,6 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,skiing_tracker_update,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sqrtf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sensor_processing_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,SL_SC7U22_Angle_Output,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,fabsf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,cosf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sinf,l
|
||||
|
||||
342046
cpu/br28/tools/sdk.lst
342046
cpu/br28/tools/sdk.lst
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Load Diff
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Load Diff
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@ -134,28 +134,11 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o: \
|
||||
apps/earphone/include\app_charge.h \
|
||||
apps/common\dev_manager/dev_manager.h \
|
||||
include_lib/update\update_loader_download.h \
|
||||
apps/earphone/xtell_Sensor/sensor\LIS2DH12.h \
|
||||
apps/earphone/xtell_Sensor/./sensor/SC7U22.h \
|
||||
apps/common/device\gSensor/gSensor_manage.h \
|
||||
include_lib/driver/cpu/br28\asm/iic_hw.h \
|
||||
include_lib/driver/cpu/br28\asm/iic_soft.h \
|
||||
apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data\le_rcsp_adv_module.h \
|
||||
apps/common/include\bt_common.h cpu/br28\audio_anc.h \
|
||||
include_lib/media/media_new/media/cpu/br28\asm/anc.h \
|
||||
include_lib/media/media_new/media/cpu/br28\asm/audio_adc.h \
|
||||
include_lib/media/media_new/media\anc_btspp.h \
|
||||
include_lib/media/media_new/media\anc_uart.h \
|
||||
apps/common/device\in_ear_detect/in_ear_manage.h \
|
||||
cpu/br28/audio_anc_mult_scene.h apps/common/icsd/anc\icsd_anc_app.h \
|
||||
include_lib/media/media_new/media/cpu/br28\asm/dac.h \
|
||||
include_lib/media/media_new/media/cpu/br28/asm/audio_src.h \
|
||||
include_lib\media/audio_stream.h \
|
||||
include_lib/media/media_new\media/audio_base.h \
|
||||
include_lib/media/media_new/media\audio_resample.h \
|
||||
include_lib/media/media_new\media/audio_cfifo.h \
|
||||
apps/common/icsd/anc/icsd_anc.h C:/JL/pi32/pi32v2-include\math.h \
|
||||
apps/common/icsd/anc/icsd_anc_client_board.h \
|
||||
cpu/br28/audio_anc_fade_ctr.h \
|
||||
apps/earphone/xtell_Sensor/buffer\circle_buffer.h \
|
||||
apps/earphone/xtell_Sensor/./buffer/circle_buffer.h \
|
||||
include_lib\btstack/avctp_user.h include_lib/btstack/btstack_typedef.h \
|
||||
apps/earphone/xtell_Sensor/calculate/skiing_tracker.h \
|
||||
apps/earphone/xtell_Sensor/calculate/../xtell.h
|
||||
|
||||
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Reference in New Issue
Block a user