diff --git a/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c b/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c index cfc9bea..dab0b5b 100644 --- a/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c +++ b/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c @@ -3,8 +3,7 @@ */ #include "skiing_tracker.h" #include "../sensor/SC7U22.h" -#include -#include + #define G_ACCELERATION 9.81f #define DEG_TO_RAD (3.14159265f / 180.0f) diff --git a/apps/earphone/xtell_Sensor/calculate/skiing_tracker.h b/apps/earphone/xtell_Sensor/calculate/skiing_tracker.h index 8161010..aa97f6c 100644 --- a/apps/earphone/xtell_Sensor/calculate/skiing_tracker.h +++ b/apps/earphone/xtell_Sensor/calculate/skiing_tracker.h @@ -2,6 +2,10 @@ #define SKIING_TRACKER_H #include "../xtell.h" +#include +#include + + // 定义滑雪者可能的状态 typedef enum { STATIC, // 静止或动态稳定：0 @@ -52,16 +56,7 @@ typedef struct { float acc_world_lpf[3]; // 经过低通滤波后的世界坐标系加速度 } skiing_tracker_t; -//ble发送的数据 -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 - 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{ int acc_KS[3]; //卡尔曼后，LSB转换后的 三轴加速度数据（cm/s^2） diff --git a/apps/earphone/xtell_Sensor/send_data.c b/apps/earphone/xtell_Sensor/send_data.c index 801cab6..155bbf0 100644 --- a/apps/earphone/xtell_Sensor/send_data.c +++ b/apps/earphone/xtell_Sensor/send_data.c @@ -56,8 +56,7 @@ extern void close_process(u16* pid,char* name); typedef struct { // -- 六轴 -- - signed short acc_data[3]; - signed short gyr_data[3]; + signed short SC7U22_data[6]; // -- 磁力计 -- uint8_t mmc5603nj_buffer[9]; // -- 速度 -- @@ -88,7 +87,11 @@ void SC7U22_static_calibration(void){ static signed short combined_raw_data[6]; static int calibration_done = 0; char status = 0; - set_SC7U22_Error_Flag(0); + static first_set_flag = 0; + if(first_set_flag == 0){ + first_set_flag = 1; + set_SC7U22_Error_Flag(0); + } SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf); memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short)); memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short)); @@ -97,20 +100,21 @@ void SC7U22_static_calibration(void){ if(status == 1){ //校准完成 extern u16 SC7U22_calibration_id; extern u8 SC7U22_init; + first_set_flag = 0; SC7U22_init = 1; close_process(&SC7U22_calibration_id, "SC7U22_calibration"); u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x01}; - send_data_to_ble_client(&send2_1,strlen(send2_1)); + send_data_to_ble_client(&send2_1,5); } - // if(count > 100){ - // count = 0; - // char log_buffer[100]; - // // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status); - // // send_data_to_ble_client(&log_buffer,strlen(log_buffer)); - // xlog("status:%d\n", status); - // 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]); - // } - // count++; + if(count > 100){ + count = 0; + char log_buffer[100]; + // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status); + // send_data_to_ble_client(&log_buffer,strlen(log_buffer)); + xlog("status:%d\n", status); + 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]); + } + count++; } /** @@ -143,8 +147,8 @@ void start_collect_fuc(void){ 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.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.speed_cms = speed; @@ -157,17 +161,83 @@ void start_collect_fuc(void){ } /** - * @brief ble数据发送 + * @brief ble数据发送函数 * */ 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); + 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; + + uint8_t imu_packet[IMU_PACKET_LEN]; + + // 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)); + + 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)); + + // 调用实际的蓝牙发送函数 + send_data_to_ble_client(&mag_packet, MAG_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); + } } diff --git a/apps/earphone/xtell_Sensor/sensor/BMP280.c b/apps/earphone/xtell_Sensor/sensor/BMP280.c index 2b217f5..e5e450f 100644 --- a/apps/earphone/xtell_Sensor/sensor/BMP280.c +++ b/apps/earphone/xtell_Sensor/sensor/BMP280.c @@ -175,4 +175,23 @@ uint8_t bmp280_read_data(float *temperature, float *pressure) { *pressure = compensate_pressure(adc_P); return 0; // 成功 +} + +/** + * @brief 获取该气压计的原始adc数据 + * + * @param adc_P 传出，气压 + * @param adc_T 传出，温度 + */ +void bmp280_read_originanl_data(int* adc_P, int* adc_T){ + uint8_t data[6]; + // 一次性读取6个字节的温度和气压原始数据 + if (bmp280_read_regs(BMP280_REG_PRESS_MSB, data, 6) != 0) { + return; // 读取失败 + } + + // 组合原始数据 (20位) + adc_P = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | (((uint32_t)(data[2])) >> 4)); + adc_T = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | (((uint32_t)(data[5])) >> 4)); + } \ No newline at end of file diff --git a/apps/earphone/xtell_Sensor/sensor/BMP280.h b/apps/earphone/xtell_Sensor/sensor/BMP280.h index 103a950..469e00c 100644 --- a/apps/earphone/xtell_Sensor/sensor/BMP280.h +++ b/apps/earphone/xtell_Sensor/sensor/BMP280.h @@ -8,11 +8,11 @@ // I2C 从设备地址 #if BMP_PULL_UP == 1 //外部接的高 -#define BMP_IIC_7BIT_ADDRESS 0x77 //7位,外部接高为0x77 +#define BMP_IIC_7BIT_ADDRESS 0x76 //7位,外部接高为0x77 #define BMP_IIC_WRITE_ADDRESS (BMP_IIC_7BIT_ADDRESS<<1) //8位地址 #define BMP_IIC_READ_ADDRESS (BMP_IIC_WRITE_ADDRESS | 0x01) #else -#define BMP_IIC_7BIT_ADDRESS 0x76 //7位,外部接低为0x76 +#define BMP_IIC_7BIT_ADDRESS 0x77 //7位,外部接低为0x76 #define BMP_IIC_WRITE_ADDRESS (BMP_IIC_7BIT_ADDRESS<<1) //8位地址 #define BMP_IIC_READ_ADDRESS (BMP_IIC_WRITE_ADDRESS | 0x01) #endif @@ -43,4 +43,12 @@ uint8_t bmp280_init(void); */ uint8_t bmp280_read_data(float *temperature, float *pressure); +/** + * @brief 获取该气压计的原始adc数据 + * + * @param adc_P 传出，气压 + * @param adc_T 传出，温度 + */ +void bmp280_read_originanl_data(int* adc_P, int* adc_T); + #endif // BMP280_DRIVER_H \ No newline at end of file diff --git a/apps/earphone/xtell_Sensor/sensor/MMC56.c b/apps/earphone/xtell_Sensor/sensor/MMC56.c index e24b63f..a5276b2 100644 --- a/apps/earphone/xtell_Sensor/sensor/MMC56.c +++ b/apps/earphone/xtell_Sensor/sensor/MMC56.c @@ -32,7 +32,7 @@ int mmc5603nj_init(void) { // ID if ( mmc5603nj_get_pid() != 0x10) { printf("MMC5603NJ init failed: wrong Product ID (read: 0x%X)\n", mmc5603nj_get_pid()); - return 0; + // return 0; } // 软件复位 diff --git a/apps/earphone/xtell_Sensor/sensor/SC7U22.h b/apps/earphone/xtell_Sensor/sensor/SC7U22.h index dd88f2d..e33a056 100644 --- a/apps/earphone/xtell_Sensor/sensor/SC7U22.h +++ b/apps/earphone/xtell_Sensor/sensor/SC7U22.h @@ -25,7 +25,7 @@ Copyright (c) 2022 Silan MEMS. All Rights Reserved. /***使用前请根据实际IIC地址配置参数***/ /**SC7U22的IIC 接口地址为 7bits: 0****/ /**SC7U22的IIC 接口地址为 8bits: 1****/ -#define SL_SC7U22_IIC_7BITS_8BITS 0 +#define SL_SC7U22_IIC_7BITS_8BITS 1 /*****************************************/ #if SL_SC7U22_SDO_VDD_GND==0 #define SL_SC7U22_IIC_7BITS_ADDR 0x18 diff --git a/apps/earphone/xtell_Sensor/xtell.h b/apps/earphone/xtell_Sensor/xtell.h index 111e1fe..dc77190 100644 --- a/apps/earphone/xtell_Sensor/xtell.h +++ b/apps/earphone/xtell_Sensor/xtell.h @@ -1,5 +1,6 @@ #ifndef XTELL_H #define XTELL_H +#include "system/includes.h" // #define KS_BLE 1 #define XTELL_TEST 1 diff --git a/apps/earphone/xtell_Sensor/xtell_handler.c b/apps/earphone/xtell_Sensor/xtell_handler.c index 31d9c4d..911bc02 100644 --- a/apps/earphone/xtell_Sensor/xtell_handler.c +++ b/apps/earphone/xtell_Sensor/xtell_handler.c @@ -101,6 +101,7 @@ extern void SC7U22_static_calibration(void); extern void create_process(u16* pid, const char* name, void *priv, void (*func)(void *priv), u32 msec); extern void close_process(u16* pid,char* name); extern void start_collect_fuc(void); +extern void BLE_send_fuc(void); /////////////////////////////////////////////////////////////////////////////////////////////////// /* * 模式状态机, 通过start_app()控制状态切换 @@ -225,51 +226,55 @@ void le_user_app_event_handler(struct sys_event* event){ if (SL_SC7U22_Config() == 0) { send2_0[4] = 0x00; //初始化失败 SC7U22_init = 0; - send_data_to_ble_client(&send2_0,strlen(send2_0)); - break; + send_data_to_ble_client(&send2_0,5); + return; } create_process(&SC7U22_calibration_id,"SC7U22_calibration",NULL,SC7U22_static_calibration,10); }else if(event->u.app.buffer[4] == 0x02){ //地磁 if(mmc5603nj_init() == 0){ MMC5603nj_init = 0; - break; + send2_0[4] = 0x02; //地磁初始化失败 + send_data_to_ble_client(&send2_0,5); + return; } MMC5603nj_init = 1; - send2_0[4] = 0x03; //地磁初始化失败 - send_data_to_ble_client(&send2_0,strlen(send2_0)); + send2_0[4] = 0x03; //地磁初始化成功 + send_data_to_ble_client(&send2_0,5); } break; case 0x01: //数据包类型为：获取指定传感器初始化状态 - u8 send2_1[5] = {0xBB,0xBE,0x02,0x01,0x00}; + u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00}; if(event->u.app.buffer[4] == 0x01){ //六轴 send2_1[4] = SC7U22_init; }else if(event->u.app.buffer[4] == 0x02){ //地磁 send2_1[4] = MMC5603nj_init + 2; } - send_data_to_ble_client(&send2_1,strlen(send2_1)); + send_data_to_ble_client(&send2_1,5); break; - case 0x02: //开始/停止滑雪计算 + case 0x02: //开始/停止滑雪计算 if(event->u.app.buffer[4] == 0x01){ //开始滑雪计算 if(SC7U22_init == 0 || MMC5603nj_init == 0){ //传感器未进行初始化 - u8 send2_2[5] = {0xBB,0xBE,0x02,0x01,0x00}; - send_data_to_ble_client(&send2_2,strlen(send2_2)); + u8 send2_2[5] = {0xBB,0xBE,0x02,0x00,0x00}; + send_data_to_ble_client(&send2_2,5); send2_2[4] = 0x02; - send_data_to_ble_client(&send2_2,strlen(send2_2)); + send_data_to_ble_client(&send2_2,5); return; } 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,1); }else if(event->u.app.buffer[4] == 0x02){ //停止滑雪计算 close_process(&start_collect_fuc_id,"start_collect"); + close_process(&BLE_send_fuc_id,"BLE_send_fuc"); } break; } } } - break; + break; default: - xlog("%d\n",event->type); - break; + xlog("%d\n",event->type); + break; }