cun

apps/earphone/xtell_Sensor/calculate/skiing_tracker.c

@@ -572,7 +572,7 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
  * @param angle_data   传入的欧若拉角数据
  * @return 速度cm/s
  */
-int sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion) {
+uint16_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion) {
     
     static int initialized = 0;
     static float acc_data_g[3];
@@ -630,6 +630,6 @@ int sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_bu
     skiing_tracker_update(&my_skiing_tracker, acc_data_g, gyr_data_dps, angle_data, delta_time);
 
     
-    return (int)(my_skiing_tracker.speed * 100);
+    return (uint16_t)(my_skiing_tracker.speed * 100);
 }
 

apps/earphone/xtell_Sensor/calculate/skiing_tracker.h

@@ -84,5 +84,5 @@ typedef struct{
  */
 void skiing_tracker_init(skiing_tracker_t *tracker);
 
-int sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion);
+uint16_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion);
 #endif // SKIING_TRACKER_H

apps/earphone/xtell_Sensor/send_data.c

@@ -61,7 +61,7 @@ typedef struct {
     // -- 磁力计 --
     uint8_t mmc5603nj_buffer[9];
     // -- 速度 --
-    int speed_cms;
+    uint16_t speed_cms;
     // -- 气压计 --
     //...
 } BLE_send_data_t;
@@ -70,7 +70,7 @@ static int count = 0;
 
 // --- 环形缓冲区 ---
 static circle_buffer_t BLE_send_buff; // 环形缓冲区管理结构体
-
+BLE_send_data_t BLE_send_data[SENSOR_DATA_BUFFER_SIZE];
 
 //END -- 变量定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
@@ -124,7 +124,7 @@ void start_collect_fuc(void){
     static int initialized = 0;
     static int calibration_done = 0;
     char status = 0;
-    BLE_send_data_t BLE_send_data;
+    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];
@@ -140,14 +140,32 @@ void start_collect_fuc(void){
 
     memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
     memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
-    int speed = sensor_processing_task(acc_data_buf,gyr_data_buf,angle, quaternion_output);
+    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.acc_data, acc_data_buf, 3 * sizeof(signed short));
+    memcpy(BLE_send_data_tmp.gyr_data, gyr_data_buf, 3 * sizeof(signed short));
+    memcpy(BLE_send_data_tmp.mmc5603nj_buffer, mmc5603nj_buffer, 9);
+    BLE_send_data_tmp.speed_cms = speed;
+
+    // -- 放进缓冲区 --
+    if(circle_buffer_is_full(&BLE_send_buff) == 0){
+        circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
+    }
+    
+
+}
+
+/**
+ * @brief ble数据发送
+ * 
+ */
+void BLE_send_fuc(void){
+    BLE_send_data_t BLE_send_data_tmp;
+    if(circle_buffer_is_empty(&BLE_send_buff) == 0){
+        circle_buffer_read(&BLE_send_buff, &BLE_send_data_tmp);
+    }
     
-    memcpy(BLE_send_data.acc_data, acc_data_buf, 3 * sizeof(signed short));
-    memcpy(BLE_send_data.gyr_data, gyr_data_buf, 3 * sizeof(signed short));
-    memcpy(BLE_send_data.mmc5603nj_buffer, mmc5603nj_buffer, 9);
-    BLE_send_data.speed_cms = speed;
 
 
 }
@@ -171,6 +189,6 @@ void xtell_task_create(void){
 
     xlog("xtell_task_create\n");
 
-    circle_buffer_init(&BLE_send_buff, sensor_read_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
+    circle_buffer_init(&BLE_send_buff, BLE_send_data, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
 
 }

apps/earphone/xtell_Sensor/xtell_handler.c

@@ -93,6 +93,7 @@ u8 MMC5603nj_init = 0;  //地磁是否初始化
 // -- 线程id --
 u16 SC7U22_calibration_id;
 u16 start_collect_fuc_id;
+u16 BLE_send_fuc_id;
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 extern int bt_hci_event_handler(struct bt_event *bt);