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差气压计的蓝牙协议

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This commit is contained in:
lmx
2025-11-21 17:10:36 +08:00
parent 591e7632d2
commit 91b08dbe47
9 changed files with 146 additions and 49 deletions
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108
apps/earphone/xtell_Sensor/send_data.c
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@ -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);
}
}