差气压计的蓝牙协议

apps/earphone/xtell_Sensor/calculate/skiing_tracker.c

@@ -3,8 +3,7 @@
 */
 #include "skiing_tracker.h"
 #include "../sensor/SC7U22.h"
-#include <math.h>
+
-#include <string.h>
 
 #define G_ACCELERATION 9.81f
 #define DEG_TO_RAD (3.14159265f / 180.0f)

apps/earphone/xtell_Sensor/calculate/skiing_tracker.h

@@ -2,6 +2,10 @@
 #define SKIING_TRACKER_H
 
 #include "../xtell.h"
+#include <math.h>
+#include <string.h>
+
+
 // 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）

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 SC7U22_data[6];
-    signed short gyr_data[3];
     // -- 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){
+    if(count > 100){
-    //     count = 0;
+        count = 0;
-    //     char log_buffer[100]; 
+        char log_buffer[100]; 
-    //     // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);  
+        // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);  
-    //     // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
+        // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-    //     xlog("status:%d\n", status);
+        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]);
+            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++;
+    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.SC7U22_data[0], 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[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;
+    BLE_send_data_t data_to_send;
-    if(circle_buffer_is_empty(&BLE_send_buff) == 0){
+
-        circle_buffer_read(&BLE_send_buff, &BLE_send_data_tmp);
+    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);
+    }
 }
 
 

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));
+
 }

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

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

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

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

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));
+                                    send_data_to_ble_client(&send2_0,5);
-                                    break;
+                                    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
+                                send2_0[4] = 0x03;  //地磁初始化成功
-                                send_data_to_ble_client(&send2_0,strlen(send2_0));
+                                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};
+                                    u8 send2_2[5] = {0xBB,0xBE,0x02,0x00,0x00};
-                                    send_data_to_ble_client(&send2_2,strlen(send2_2));
+                                    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);
+            xlog("%d\n",event->type);
-        break;
+            break;
     }