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蓝牙发送速率提升

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lmx
2025-12-04 18:51:38 +08:00
parent 8c2db49083
commit 89f1c93f74
21 changed files with 641 additions and 801 deletions
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127
apps/earphone/xtell_Sensor/send_data.c
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@ -29,6 +29,7 @@
#include "asm/rtc.h"
#include "system/timer.h"
#include "adv_time_stamp_setting.h"
#include "btstack/le/le_user.h"
///////////////////////////////////////////////////////////////////////////////////////////////////
//宏定义
#define ENABLE_XLOG 1
@ -433,20 +434,128 @@ void xtell_task_create(void){
//test
//
void bmp280_test(void){
/**
* @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
static OS_SEM ble_send_sem;
void on_ble_can_send(void) {
os_sem_post(&ble_send_sem);
}
int j = 0;
void data_send_task(void){
while(1){
// 等待“发送许可”信号量，如果没许可，任务会在此阻塞
// os_sem_pend(&ble_send_sem, 1);
// static signed char acc_data_buf[60] = {
// 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22
// };
acc_data_buf[1] = (uint8_t)(j & 0xFF);
acc_data_buf[2] = (uint8_t)(j>>8 & 0xFF);
acc_data_buf[3] = (uint8_t)(j>>16 & 0xFF);
acc_data_buf[4] = (uint8_t)(j>>24 & 0xFF);
acc_data_buf[0] = 0xAA;
send_data_to_ble_client(&acc_data_buf, 500);
// acc_data_buf[0] = 0xBB;
// send_data_to_ble_client(&acc_data_buf, 500);
// acc_data_buf[0] = 0xCC;
// send_data_to_ble_client(&acc_data_buf, 500);
// acc_data_buf[0] = 0xDD;
// send_data_to_ble_client(&acc_data_buf, 500);
void gsensor_test(void){
#if 1
signed short acc_data_buf[3];
signed short gyr_data_buf[3];
SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
#endif
// static signed char acc_data_buf[20] = {
// 0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
// 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
// };
// send_data_to_ble_client(&acc_data_buf, 20);
// send_data_to_ble_client(&acc_data_buf, 20);
// send_data_to_ble_client(&acc_data_buf, 20);
// xlog("===========time:%d\n",get_ms_timer());
j++;
os_time_dly(4); //10ms单位
}
}
static u16 gtest_id = 0;
void test_func(void){
create_process(&gtest_id,"gtest_id",NULL,gsensor_test,1000);
// a. 初始化信号量，初始值为0
// os_sem_create(&ble_send_sem, 0);
// b. 注册回调函数，让协议栈知道在准备好时该调用谁
// struct ble_server_operation_t *ble_ops;
// ble_get_server_operation_table(&ble_ops);
// ble_ops->regist_wakeup_send(NULL, on_ble_can_send);
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");
// data_send_task();
}