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启动阈值调整

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This commit is contained in:
lmx
2025-11-12 13:57:59 +08:00
parent 58ad14691e
commit c88cb70bb1
32 changed files with 153681 additions and 153490 deletions
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4
apps/earphone/user_cfg.c
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@ -202,7 +202,9 @@ void cfg_file_parse(u8 idx)
log_info("read bt name err");
} else if (ret >= LOCAL_NAME_LEN) {
memset(bt_cfg.edr_name, 0x00, LOCAL_NAME_LEN);
memcpy(bt_cfg.edr_name, tmp, LOCAL_NAME_LEN);
// memcpy(bt_cfg.edr_name, tmp, LOCAL_NAME_LEN);
extern char xt_ble_new_name[9];
memcpy(bt_cfg.edr_name, xt_ble_new_name, LOCAL_NAME_LEN);
bt_cfg.edr_name[LOCAL_NAME_LEN - 1] = 0;
} else {
memset(bt_cfg.edr_name, 0x00, LOCAL_NAME_LEN);

12
apps/earphone/xtell_Sensor/calculate/skiing_tracker.c
View File

@ -22,7 +22,7 @@
// 加速度模长与重力的差值大于此值，认为开始运动；降低阈值，让“油门”更灵敏，以便能捕捉到真实的慢速启动
#define START_SKIING_ACC_THRESHOLD 0.5f
// 陀螺仪方差阈值，以允许启动瞬间的正常抖动，但仍能过滤掉混乱的、非滑雪的晃动。
#define SKIING_GYR_VARIANCE_THRESHOLD 20.0f
#define SKIING_GYR_VARIANCE_THRESHOLD 15.0f
// --- 滑雪过程 ---
//加速度 模长，低于此值视为 在做匀速运动
@ -268,7 +268,7 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
case STATIC:
//不break，会往下执行，判断是否进入非匀速状态
case ROTATING: // 从静止或原地旋转可以启动
if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance < SKIING_GYR_VARIANCE_THRESHOLD) {
if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance > SKIING_GYR_VARIANCE_THRESHOLD) {
tracker->state = NO_CONSTANT_SPEED;
} else if (gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
tracker->state = ROTATING;
@ -357,7 +357,7 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
float acc_horizontal_mag = sqrtf(tracker->acc_world_filtered[0] * tracker->acc_world_filtered[0] +
tracker->acc_world_filtered[1] * tracker->acc_world_filtered[1]);
// --- 根据状态进行计算 ---
if (tracker->state == NO_CONSTANT_SPEED) {
if (tracker->state == NO_CONSTANT_SPEED) { //非匀速
if (acc_horizontal_mag > ACC_DEAD_ZONE_THRESHOLD) {
// 只有当水平加速度足够大时，才进行速度积分
tracker->velocity[0] += tracker->acc_world_filtered[0] * dt;
@ -382,7 +382,7 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
//保持上次的速度不变。只更新距离
tracker->distance += tracker->speed * dt;
}else if(tracker->state == WHEEL){ //匀速
}else if(tracker->state == WHEEL){ //转弯
//暂时：保持上次的速度不变。只更新距离
tracker->distance += tracker->speed * dt;
}else{
@ -520,8 +520,8 @@ BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short*
static float gyr_data_dps[3];
// const float delta_time = DELTA_TIME+0.01f;
// const float delta_time = DELTA_TIME + 0.005f;
const float delta_time = DELTA_TIME+0.01f;
const float delta_time = DELTA_TIME + 0.005f;
// const float delta_time = DELTA_TIME;
BLE_send_data_t BLE_send_data;
if (!initialized) {

3
apps/earphone/xtell_Sensor/calculate/skiing_tracker.h
View File

@ -10,6 +10,9 @@ typedef enum {
ROTATING, // 正在原地旋转
WHEEL, // 转弯
FALLEN, // 已摔倒
TAKING_OFF, // 起跳冲击阶段
IN_AIR, // 空中失重阶段
LANDING, // 落地冲击阶段
STOP_DETECTION, // 停止检测
UNKNOWN // 未知状态
} skiing_state_t;

62
apps/earphone/xtell_Sensor/send_data.c
View File

@ -263,7 +263,7 @@ static BLE_send_data_t sensor_send_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放ble
*/
void sensor_read_data(){
// xlog("=======sensor_read_data START\n");
xlog("=======sensor_read_data START\n");
static signed short combined_raw_data[6];
static int initialized = 0;
static int calibration_done = 0;
@ -275,6 +275,7 @@ void sensor_read_data(){
static sensor_data_t tmp;
SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data);
xlog("=======sensor_read_data middle 1\n");
memcpy(&combined_raw_data[0], tmp.acc_data, 3 * sizeof(signed short));
memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short));
@ -291,7 +292,7 @@ void sensor_read_data(){
memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
circle_buffer_write(&sensor_read, &tmp);
}
// xlog("=======sensor_read_data END\n");
xlog("=======sensor_read_data END\n");
}
@ -391,7 +392,56 @@ void BLE_send_data(){
#endif
}
//iic测试调用的
#if 1
extern char xt_Check_Flag = 10;
static u16 xt_iic_test_id;
char log_buffer_1[100];
extern char sen_log_buffer_1[100];
extern char sen_log_buffer_2[100];
extern char sen_log_buffer_3[100];
extern char sen_log_buffer_4[100];
extern char sen_log_buffer_5[100];
extern char w_log_buffer_1[100];
extern char w_log_buffer_2[100];
extern char w_log_buffer_3[100];
extern char w_log_buffer_4[100];
extern char w_log_buffer_5[100];
void xt_iic_test(){
char log_buffer[100];
send_data_to_ble_client(&log_buffer_1,strlen(log_buffer_1));
extern char iic_read_len;
extern char iic_write_result;
int num_chars_written = snprintf(log_buffer, sizeof(log_buffer),"SL_SC7U22_Check=0x%d,%d,%d\n", xt_Check_Flag, iic_read_len, iic_write_result);
extern void send_data_to_ble_client(const u8* data, u16 length);
send_data_to_ble_client(&log_buffer,strlen(log_buffer));
if(sen_log_buffer_1 != NULL)
send_data_to_ble_client(&sen_log_buffer_1,strlen(sen_log_buffer_1));
if(sen_log_buffer_2 != NULL)
send_data_to_ble_client(&sen_log_buffer_2,strlen(sen_log_buffer_2));
if(sen_log_buffer_3 != NULL)
send_data_to_ble_client(&sen_log_buffer_3,strlen(sen_log_buffer_3));
if(sen_log_buffer_4 != NULL)
send_data_to_ble_client(&sen_log_buffer_4,strlen(sen_log_buffer_4));
if(sen_log_buffer_5 != NULL)
send_data_to_ble_client(&sen_log_buffer_5,strlen(sen_log_buffer_5));
if(w_log_buffer_1 != NULL)
send_data_to_ble_client(&w_log_buffer_1,strlen(w_log_buffer_1));
if(w_log_buffer_2 != NULL)
send_data_to_ble_client(&w_log_buffer_2,strlen(w_log_buffer_2));
if(w_log_buffer_3 != NULL)
send_data_to_ble_client(&w_log_buffer_3,strlen(w_log_buffer_3));
if(w_log_buffer_4 != NULL)
send_data_to_ble_client(&w_log_buffer_4,strlen(w_log_buffer_4));
if(w_log_buffer_5 != NULL)
send_data_to_ble_client(&w_log_buffer_5,strlen(w_log_buffer_5));
// SL_SC7U22_Config();
}
#endif
void xtell_task_create(void){
@ -405,7 +455,9 @@ void xtell_task_create(void){
int ret = hw_iic_init(0);
xlog("init iic result:%d\n", ret); //返回0成功
#else
soft_iic_init(0);
int ret = soft_iic_init(0);
int num_chars_written = snprintf(log_buffer_1, sizeof(log_buffer_1),"init iic: %d\n", ret);
#endif
gpio_set_direction(IO_PORTE_05,0); //设置PE5 输出模式
@ -436,9 +488,11 @@ void xtell_task_create(void){
create_process(&sensor_read_data_id, "read",NULL, sensor_read_data, 10);
create_process(&calculate_data_id, "calculate",NULL, calculate_data, 1);
create_process(&calculate_data_id, "calculate",NULL, calculate_data, 5);
create_process(&ble_send_data_id, "send",NULL, BLE_send_data, 1);
// create_process(&xt_iic_test_id,"iic_test",NULL,xt_iic_test,1000);
}

13
apps/earphone/xtell_Sensor/sensor/SC7U22.c
View File

@ -63,20 +63,21 @@ static void sl_delay(unsigned char sl_i)
os_time_dly(sl_i);
}
char iic_read_len;
char iic_write_result;
unsigned char SL_SC7U22_Check(void)
{
unsigned char reg_value=0;
xlog("SL_SC7U22_Check\n");
SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x7F, 0x00);//goto 0x00
SL_SC7U22_I2c_Spi_Read(SL_SPI_IIC_INTERFACE, SC7U22_WHO_AM_I, 1, &reg_value);
iic_write_result = SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x7F, 0x00);//goto 0x00
iic_read_len = SL_SC7U22_I2c_Spi_Read(SL_SPI_IIC_INTERFACE, SC7U22_WHO_AM_I, 1, &reg_value);
xlog("0x%x=0x%x\r\n",SC7U22_WHO_AM_I,reg_value);
if(reg_value==0x6A) //设备的id
return 0x01;//SC7U22
else
return 0x00;//通信异常
}
char xt_Check_Flag;
unsigned char SL_SC7U22_Config(void)
{
xlog("SL_SC7U22_Config\n");
@ -102,6 +103,10 @@ unsigned char SL_SC7U22_Config(void)
// Check_Flag=1;//强制初始化
xlog("SL_SC7U22_Check=0x%x\r\n",Check_Flag);
xt_Check_Flag = Check_Flag;
if(Check_Flag==1)
{
Check_Flag= SL_SC7U22_POWER_DOWN();

4
apps/earphone/xtell_Sensor/xtell_app_main.c
View File

@ -100,6 +100,10 @@ void close_BL(){
close_process(&close_BL_number,__func__);
}
void xtell_set_ble_name(char* name){
}
extern u32 timer_get_ms(void);
void xtell_app_main()

4
apps/earphone/xtell_Sensor/xtell_handler.c
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@ -78,7 +78,7 @@ extern u8 init_ok;
extern u8 sniff_out;
unsigned char xtell_bl_state=0; //存放经典蓝牙的连接状态，0断开，1是连接
u8 bt_newname =0;
unsigned char xt_ble_new_name[9] = "CM-11111";
unsigned char xt_ble_new_name[9] = "CM-22222";
static u16 play_poweron_ok_timer_id = 0;
//
///////////////////////////////////////////////////////////////////////////////////////////////////
@ -313,7 +313,7 @@ static int bt_connction_status_event_handler(struct bt_event *bt)
case BT_STATUS_FIRST_CONNECTED:
xlog("BT_STATUS_CONNECTED\n");
xtell_bl_state = 1; //蓝牙连接成功 置1
if(strcmp(xt_ble_new_name,"CM-1111") != 0){
if(strcmp(xt_ble_new_name,"CM-11111") != 0){
//蓝牙连接成功
bt_newname =1;
u8 temp[5]={0xBB,0xBE,0x02,0x04,0x00};