存档
This commit is contained in:
4
.vscode/settings.json
vendored
4
.vscode/settings.json
vendored
@ -26,6 +26,8 @@
|
||||
"bt_tws.h": "c",
|
||||
"skiing_tracker.h": "c",
|
||||
"xtell.h": "c",
|
||||
"debug.h": "c"
|
||||
"debug.h": "c",
|
||||
"ano_protocol.h": "c",
|
||||
"board_jl701n_demo_global_build_cfg.h": "c"
|
||||
}
|
||||
}
|
||||
2
Makefile
2
Makefile
@ -249,6 +249,7 @@ INCLUDES := \
|
||||
-Iapps/earphone/xtell_Sensor/sensor \
|
||||
-Iapps/earphone/xtell_Sensor \
|
||||
-Iapps/earphone/xtell_Sensor/calculate \
|
||||
-Iapps/earphone/xtell_Sensor/ano \
|
||||
-I$(SYS_INC_DIR) \
|
||||
|
||||
|
||||
@ -620,6 +621,7 @@ c_SRC_FILES := \
|
||||
apps/earphone/xtell_Sensor/sensor/LIS2DH12.c \
|
||||
apps/earphone/xtell_Sensor/sensor/SC7U22.c \
|
||||
apps/earphone/xtell_Sensor/calculate/skiing_tracker.c \
|
||||
apps/earphone/xtell_Sensor/ano/ano_protocol.c \
|
||||
|
||||
|
||||
# 需要编译的 .S 文件
|
||||
|
||||
@ -57,14 +57,14 @@ const struct task_info task_info_table[] = {
|
||||
#else
|
||||
{"btstack", 3, 0, 768, 256 },
|
||||
#endif
|
||||
{"audio_dec", 5, 0, 800, 128 },
|
||||
{"aud_effect", 5, 1, 800, 128 },
|
||||
// {"audio_dec", 5, 0, 800, 128 },
|
||||
// {"aud_effect", 5, 1, 800, 128 },
|
||||
/*
|
||||
*为了防止dac buf太大，通话一开始一直解码，
|
||||
*导致编码输入数据需要很大的缓存，这里提高编码的优先级
|
||||
*/
|
||||
{"audio_enc", 6, 0, 768, 128 },
|
||||
{"aec", 2, 1, 768, 128 },
|
||||
// {"audio_enc", 6, 0, 768, 128 },
|
||||
// {"aec", 2, 1, 768, 128 },
|
||||
#if TCFG_AUDIO_HEARING_AID_ENABLE
|
||||
{"HearingAid", 6, 0, 768, 128 },
|
||||
#endif/*TCFG_AUDIO_HEARING_AID_ENABLE*/
|
||||
@ -82,13 +82,13 @@ const struct task_info task_info_table[] = {
|
||||
{"enc_mpt_self", 3, 0, 512, 128 },
|
||||
#endif/*AUDIO_ENC_MPT_SELF_ENABLE*/
|
||||
{"update", 1, 0, 256, 0 },
|
||||
{"tws_ota", 2, 0, 256, 0 },
|
||||
{"tws_ota_msg", 2, 0, 256, 128 },
|
||||
{"dw_update", 2, 0, 256, 128 },
|
||||
// {"tws_ota", 2, 0, 256, 0 },
|
||||
// {"tws_ota_msg", 2, 0, 256, 128 },
|
||||
// {"dw_update", 2, 0, 256, 128 },
|
||||
{"rcsp_task", 2, 0, 640, 128 },
|
||||
{"aud_capture", 4, 0, 512, 256 },
|
||||
{"data_export", 5, 0, 512, 256 },
|
||||
{"anc", 3, 1, 512, 128 },
|
||||
// {"aud_capture", 4, 0, 512, 256 },
|
||||
// {"data_export", 5, 0, 512, 256 },
|
||||
// {"anc", 3, 1, 512, 128 },
|
||||
#endif
|
||||
|
||||
#if TCFG_GX8002_NPU_ENABLE
|
||||
@ -102,9 +102,9 @@ const struct task_info task_info_table[] = {
|
||||
#if TCFG_KWS_VOICE_RECOGNITION_ENABLE
|
||||
{"kws", 2, 0, 256, 64 },
|
||||
#endif /* #if TCFG_KWS_VOICE_RECOGNITION_ENABLE */
|
||||
{"usb_msd", 1, 0, 512, 128 },
|
||||
// {"usb_msd", 1, 0, 512, 128 },
|
||||
#if !TCFG_USB_MIC_CVP_ENABLE
|
||||
{"usbmic_write", 2, 0, 256, 128 },
|
||||
// {"usbmic_write", 2, 0, 256, 128 },
|
||||
#endif
|
||||
#if AI_APP_PROTOCOL
|
||||
{"app_proto", 2, 0, 768, 64 },
|
||||
@ -112,12 +112,12 @@ const struct task_info task_info_table[] = {
|
||||
#if (TCFG_SPI_LCD_ENABLE||TCFG_SIMPLE_LCD_ENABLE)
|
||||
{"ui", 2, 0, 768, 256 },
|
||||
#else
|
||||
{"ui", 3, 0, 384 - 64, 128 },
|
||||
// {"ui", 3, 0, 384 - 64, 128 },
|
||||
#endif
|
||||
#if (TCFG_DEV_MANAGER_ENABLE)
|
||||
{"dev_mg", 3, 0, 512, 512 },
|
||||
#endif
|
||||
{"audio_vad", 1, 1, 512, 128 },
|
||||
// {"audio_vad", 1, 1, 512, 128 },
|
||||
#if TCFG_KEY_TONE_EN
|
||||
{"key_tone", 5, 0, 256, 32 },
|
||||
#endif
|
||||
@ -137,7 +137,7 @@ const struct task_info task_info_table[] = {
|
||||
{"icsd_src", 2, 1, 512, 128 },
|
||||
#endif /*TCFG_AUDIO_ANC_ACOUSTIC_DETECTOR_EN*/
|
||||
{"pmu_task", 6, 0, 256, 128 },
|
||||
{"WindDetect", 2, 0, 256, 128 },
|
||||
// {"WindDetect", 2, 0, 256, 128 },
|
||||
{0, 0},
|
||||
};
|
||||
|
||||
|
||||
@ -249,7 +249,7 @@ const struct vad_mic_platform_data vad_mic_data = {
|
||||
.mic_ldo2PAD_en = 1,
|
||||
.mic_bias_en = 0,
|
||||
.mic_bias_res = 0,
|
||||
.mic_bias_inside = TCFG_AUDIO_MIC0_BIAS_EN,
|
||||
// .mic_bias_inside = TCFG_AUDIO_MIC0_BIAS_EN,
|
||||
/* ADC偏置电阻配置*/
|
||||
.adc_rbs = 3,
|
||||
/* ADC输入电阻配置*/
|
||||
|
||||
@ -22,9 +22,11 @@
|
||||
// UART配置 //
|
||||
//*********************************************************************************//
|
||||
#define TCFG_UART0_ENABLE ENABLE_THIS_MOUDLE //串口打印模块使能
|
||||
// #define TCFG_UART0_ENABLE 0 //串口打印模块使能
|
||||
#define TCFG_UART0_RX_PORT NO_CONFIG_PORT //串口接收脚配置（用于打印可以选择NO_CONFIG_PORT）
|
||||
#define TCFG_UART0_TX_PORT IO_PORT_DP //串口发送脚配置
|
||||
#define TCFG_UART0_BAUDRATE 1000000 //串口波特率配置
|
||||
// #define TCFG_UART0_BAUDRATE 1000000 //串口波特率配置
|
||||
#define TCFG_UART0_BAUDRATE 115200 //串口波特率配置
|
||||
|
||||
//*********************************************************************************//
|
||||
// IIC配置 //
|
||||
@ -104,7 +106,7 @@
|
||||
|
||||
#define MULT_KEY_ENABLE 1//DISABLE //是否使能组合按键消息, 使能后需要配置组合按键映射表
|
||||
|
||||
#define TCFG_KEY_TONE_EN ENABLE//DISABLE xtell // 按键提示音。
|
||||
#define TCFG_KEY_TONE_EN DISABLE//DISABLE xtell // 按键提示音。
|
||||
|
||||
//*********************************************************************************//
|
||||
// iokey 配置 //
|
||||
@ -727,9 +729,9 @@ DAC硬件上的连接方式,可选的配置：
|
||||
// 充电舱/蓝牙测试盒/ANC测试三者为同级关系,开启任一功能都会初始化PP0通信接口 //
|
||||
//*********************************************************************************//
|
||||
#define TCFG_CHARGESTORE_ENABLE DISABLE_THIS_MOUDLE //是否支持智能充电舱
|
||||
#define TCFG_TEST_BOX_ENABLE ENABLE_THIS_MOUDLE //是否支持蓝牙测试盒
|
||||
#define TCFG_TEST_BOX_ENABLE ENABLE_THIS_MOUDLE //是否支持蓝牙测试盒 //xtell
|
||||
#define TCFG_ANC_BOX_ENABLE CONFIG_ANC_ENABLE //是否支持ANC测试盒
|
||||
#define TCFG_UMIDIGI_BOX_ENABLE ENABLE_THIS_MOUDLE //是否支持UMIDIGI充电舱
|
||||
#define TCFG_UMIDIGI_BOX_ENABLE DISABLE_THIS_MOUDLE //是否支持UMIDIGI充电舱 //xtell
|
||||
#if TCFG_UMIDIGI_BOX_ENABLE
|
||||
#define _20MS_BIT 20 //传输20ms/Bit时使用
|
||||
#define _40MS_BIT 40 //传输40ms/Bit时使用
|
||||
|
||||
163
apps/earphone/xtell_Sensor/ano/ano_protocol.c
Normal file
163
apps/earphone/xtell_Sensor/ano/ano_protocol.c
Normal file
@ -0,0 +1,163 @@
|
||||
#include "ano_protocol.h"
|
||||
#include "asm/uart_dev.h"
|
||||
#include "app_config.h" // 需要包含这个头文件来获取 TCFG_ONLINE_TX_PORT 等宏定义
|
||||
|
||||
// 定义匿名协议常量
|
||||
#define ANO_FRAME_HEADER 0xAA
|
||||
#define ANO_TO_COMPUTER_ADDR 0xFF
|
||||
|
||||
// 用于保存 uart_dev_open 返回的句柄
|
||||
static const uart_bus_t *ano_uart_dev = NULL;
|
||||
|
||||
/**
|
||||
* @brief 计算并填充匿名协议的校验和
|
||||
* @param frame_buffer 指向数据帧缓冲区的指针
|
||||
*/
|
||||
static void ano_calculate_checksum(u8 *frame_buffer) {
|
||||
#if TCFG_UART0_ENABLE==0
|
||||
u8 sum_check = 0;
|
||||
u8 add_check = 0;
|
||||
|
||||
// 数据长度在索引为 3 的位置
|
||||
u8 data_len = frame_buffer[3];
|
||||
// 需要计算校验和的总长度 = 帧头(1) + 地址(1) + ID(1) + 长度(1) + 数据(data_len)
|
||||
u16 checksum_len = 4 + data_len;
|
||||
|
||||
for (u16 i = 0; i < checksum_len; i++) {
|
||||
sum_check += frame_buffer[i];
|
||||
add_check += sum_check;
|
||||
}
|
||||
|
||||
// 将计算出的校验和填充到帧的末尾
|
||||
frame_buffer[checksum_len] = sum_check;
|
||||
frame_buffer[checksum_len + 1] = add_check;
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 初始化用于匿名上位机通信的串口
|
||||
*/
|
||||
int ano_protocol_init(u32 baudrate) {
|
||||
#if TCFG_UART0_ENABLE==0
|
||||
// 防止重复初始化
|
||||
if (ano_uart_dev) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
struct uart_platform_data_t ut_arg = {0};
|
||||
|
||||
// TCFG_ONLINE_TX_PORT 和 TCFG_ONLINE_RX_PORT 通常在 app_config.h 中定义
|
||||
// 请确保您的 app_config.h 中有正确的引脚配置
|
||||
ut_arg.tx_pin = TCFG_ONLINE_TX_PORT;
|
||||
ut_arg.rx_pin = (u8)-1; // -1 表示不使用该引脚，因为我们只发送数据
|
||||
ut_arg.baud = baudrate;
|
||||
|
||||
// 以下为接收相关配置，由于只发送，全部设为0或NULL
|
||||
ut_arg.rx_cbuf = NULL;
|
||||
ut_arg.rx_cbuf_size = 0;
|
||||
ut_arg.frame_length = 0;
|
||||
ut_arg.rx_timeout = 0;
|
||||
ut_arg.isr_cbfun = NULL;
|
||||
|
||||
ano_uart_dev = (uart_bus_t *)uart_dev_open(&ut_arg);
|
||||
|
||||
if (ano_uart_dev == NULL) {
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief 发送惯性传感器数据 (ID: 0x01)
|
||||
*/
|
||||
void ano_send_inertial_data(s16 acc_x, s16 acc_y, s16 acc_z,
|
||||
s16 gyr_x, s16 gyr_y, s16 gyr_z,
|
||||
u8 shock_sta) {
|
||||
#if TCFG_UART0_ENABLE==0
|
||||
if (ano_uart_dev == NULL) {
|
||||
return; // 如果串口未初始化，则不执行任何操作
|
||||
}
|
||||
|
||||
// 帧总长度 = 4(固定头) + 13(数据) + 2(校验) = 19 字节
|
||||
u8 frame_buffer[19];
|
||||
u8 data_idx = 4; // DATA区域从索引4开始
|
||||
|
||||
// 1. 填充帧头、地址、ID、长度
|
||||
frame_buffer[0] = ANO_FRAME_HEADER;
|
||||
frame_buffer[1] = ANO_TO_COMPUTER_ADDR;
|
||||
frame_buffer[2] = 0x01; // 功能码 ID
|
||||
frame_buffer[3] = 13; // 数据长度 LEN
|
||||
|
||||
// 2. 填充数据内容 (DATA)，注意小端模式 (低字节在前)
|
||||
frame_buffer[data_idx++] = (u8)(acc_x & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(acc_x >> 8);
|
||||
frame_buffer[data_idx++] = (u8)(acc_y & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(acc_y >> 8);
|
||||
frame_buffer[data_idx++] = (u8)(acc_z & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(acc_z >> 8);
|
||||
|
||||
frame_buffer[data_idx++] = (u8)(gyr_x & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(gyr_x >> 8);
|
||||
frame_buffer[data_idx++] = (u8)(gyr_y & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(gyr_y >> 8);
|
||||
frame_buffer[data_idx++] = (u8)(gyr_z & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(gyr_z >> 8);
|
||||
|
||||
frame_buffer[data_idx++] = shock_sta;
|
||||
|
||||
// 3. 计算并填充校验和
|
||||
ano_calculate_checksum(frame_buffer);
|
||||
|
||||
// 4. 通过串口发送整个数据帧
|
||||
ano_uart_dev->write(frame_buffer, sizeof(frame_buffer));
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 发送飞控姿态数据 (ID: 0x03)
|
||||
*
|
||||
* @param rol
|
||||
* @param pit
|
||||
* @param yaw
|
||||
* @param fusion_sta
|
||||
*/
|
||||
void ano_send_attitude_data(float rol, float pit, float yaw, u8 fusion_sta) {
|
||||
#if TCFG_UART0_ENABLE==0
|
||||
if (ano_uart_dev == NULL) {
|
||||
return; // 如果串口未初始化，则不执行任何操作
|
||||
}
|
||||
|
||||
// 帧总长度 = 4(固定头) + 7(数据) + 2(校验) = 13 字节
|
||||
u8 frame_buffer[13];
|
||||
u8 data_idx = 4; // DATA区域从索引4开始
|
||||
|
||||
// 1. 填充帧头、地址、ID、长度
|
||||
frame_buffer[0] = ANO_FRAME_HEADER;
|
||||
frame_buffer[1] = ANO_TO_COMPUTER_ADDR;
|
||||
frame_buffer[2] = 0x03; // 功能码 ID
|
||||
frame_buffer[3] = 7; // 数据长度 LEN
|
||||
|
||||
// 2. 转换浮点数为整数并填充 (DATA)，注意小端模式
|
||||
s16 rol_int = (s16)(rol * 100);
|
||||
s16 pit_int = (s16)(pit * 100);
|
||||
s16 yaw_int = (s16)(yaw * 100);
|
||||
|
||||
frame_buffer[data_idx++] = (u8)(rol_int & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(rol_int >> 8);
|
||||
frame_buffer[data_idx++] = (u8)(pit_int & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(pit_int >> 8);
|
||||
frame_buffer[data_idx++] = (u8)(yaw_int & 0xFF);
|
||||
frame_buffer[data_idx++] = (u8)(yaw_int >> 8);
|
||||
|
||||
frame_buffer[data_idx++] = fusion_sta;
|
||||
|
||||
// 3. 计算并填充校验和
|
||||
ano_calculate_checksum(frame_buffer);
|
||||
|
||||
// 4. 通过串口发送整个数据帧
|
||||
ano_uart_dev->write(frame_buffer, sizeof(frame_buffer));
|
||||
#endif
|
||||
}
|
||||
37
apps/earphone/xtell_Sensor/ano/ano_protocol.h
Normal file
37
apps/earphone/xtell_Sensor/ano/ano_protocol.h
Normal file
@ -0,0 +1,37 @@
|
||||
#ifndef __ANO_PROTOCOL_H__
|
||||
#define __ANO_PROTOCOL_H__
|
||||
|
||||
#include "system/includes.h"
|
||||
|
||||
/**
|
||||
* @brief 初始化用于上位机通信的串口
|
||||
*
|
||||
* @param baudrate 波特率，例如 115200
|
||||
* @return 0: 成功, -1: 失败
|
||||
*/
|
||||
int ano_protocol_init(u32 baudrate);
|
||||
|
||||
/**
|
||||
* @brief 发送惯性传感器数据 (ID: 0x01)
|
||||
* @param acc_x X轴加速度
|
||||
* @param acc_y Y轴加速度
|
||||
* @param acc_z Z轴加速度
|
||||
* @param gyr_x X轴陀螺仪
|
||||
* @param gyr_y Y轴陀螺仪
|
||||
* @param gyr_z Z轴陀螺仪
|
||||
* @param shock_sta 震动状态
|
||||
*/
|
||||
void ano_send_inertial_data(s16 acc_x, s16 acc_y, s16 acc_z,
|
||||
s16 gyr_x, s16 gyr_y, s16 gyr_z,
|
||||
u8 shock_sta);
|
||||
|
||||
/**
|
||||
* @brief 发送飞控姿态数据 (ID: 0x03)
|
||||
* @param rol 横滚角 (单位: 度)
|
||||
* @param pit 俯仰角 (单位: 度)
|
||||
* @param yaw 航向角 (单位: 度)
|
||||
* @param fusion_sta 融合状态
|
||||
*/
|
||||
void ano_send_attitude_data(float rol, float pit, float yaw, u8 fusion_sta);
|
||||
|
||||
#endif // __ANO_PROTOCOL_H__
|
||||
@ -79,7 +79,62 @@ static void calculate_air_distance(skiing_tracker_t *tracker) {
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief 将设备坐标系下的加速度转换为世界坐标系，去掉重力分量
|
||||
*
|
||||
* @param acc_device
|
||||
* @param angle
|
||||
* @param acc_linear_world
|
||||
*/
|
||||
static void transform_acc_to_world_frame(const float *acc_device, const float *angle, float *acc_linear_world)
|
||||
{
|
||||
// 1. 将输入的角度从度转换为弧度
|
||||
// angle[0] -> pitch, angle[1] -> roll, angle[2] -> yaw
|
||||
float pitch_rad = -angle[0] * (M_PI / 180.0f);
|
||||
float roll_rad = -angle[1] * (M_PI / 180.0f);
|
||||
float yaw_rad = -angle[2] * (M_PI / 180.0f);
|
||||
|
||||
// 2. 预先计算三角函数值，以提高效率
|
||||
float c_r = cosf(roll_rad);
|
||||
float s_r = sinf(roll_rad);
|
||||
float c_p = cosf(pitch_rad);
|
||||
float s_p = sinf(pitch_rad);
|
||||
float c_y = cosf(yaw_rad);
|
||||
float s_y = sinf(yaw_rad);
|
||||
|
||||
// 3. 构建从设备坐标系到世界坐标系的旋转矩阵 R_device_to_world
|
||||
// 该矩阵基于 Z-Y-X (Yaw-Pitch-Roll) 欧拉角顺序
|
||||
// R = R_z(yaw) * R_y(pitch) * R_x(roll)
|
||||
float R[3][3];
|
||||
R[0][0] = c_y * c_p;
|
||||
R[0][1] = c_y * s_p * s_r - s_y * c_r;
|
||||
R[0][2] = c_y * s_p * c_r + s_y * s_r;
|
||||
|
||||
R[1][0] = s_y * c_p;
|
||||
R[1][1] = s_y * s_p * s_r + c_y * c_r;
|
||||
R[1][2] = s_y * s_p * c_r - c_y * s_r;
|
||||
|
||||
R[2][0] = -s_p;
|
||||
R[2][1] = c_p * s_r;
|
||||
R[2][2] = c_p * c_r;
|
||||
|
||||
// 4. 将设备坐标系的加速度计总读数旋转到世界坐标系
|
||||
// a_raw_world = R * acc_device
|
||||
float ax_raw_world = R[0][0] * acc_device[0] + R[0][1] * acc_device[1] + R[0][2] * acc_device[2];
|
||||
float ay_raw_world = R[1][0] * acc_device[0] + R[1][1] * acc_device[1] + R[1][2] * acc_device[2];
|
||||
float az_raw_world = R[2][0] * acc_device[0] + R[2][1] * acc_device[1] + R[2][2] * acc_device[2];
|
||||
|
||||
// 5. 在世界坐标系中减去重力分量，得到线性加速度
|
||||
// 假设世界坐标系Z轴垂直向上，重力矢量为 [0, 0, -g]
|
||||
// 线性加速度 = 总加速度 - 重力加速度
|
||||
// az_linear = az_raw_world - (-g) = az_raw_world + g (如果Z轴向上)
|
||||
// az_linear = az_raw_world - (+g) = az_raw_world - g (如果Z轴向下)
|
||||
// 这里我们采用 Z 轴向上的标准惯性系 (ENU)
|
||||
|
||||
acc_linear_world[0] = ax_raw_world;
|
||||
acc_linear_world[1] = ay_raw_world;
|
||||
acc_linear_world[2] = az_raw_world - G_ACCELERATION; // Z轴向上，重力为正值，所以减去
|
||||
}
|
||||
/**
|
||||
* @brief 在设备坐标系下，从原始加速度数据中移除重力分量
|
||||
* @param acc_device 输入：设备坐标系下的原始加速度 [x, y, z], 单位 m/s^2
|
||||
@ -88,9 +143,9 @@ static void calculate_air_distance(skiing_tracker_t *tracker) {
|
||||
*/
|
||||
void remove_gravity_in_device_frame(const float *acc_device, const float *angle, float *acc_linear_device)
|
||||
{
|
||||
float pitch = angle[0] * DEG_TO_RAD; // 绕 Y 轴
|
||||
float roll = angle[1] * DEG_TO_RAD; // 绕 X 轴
|
||||
float yaw = angle[2] * DEG_TO_RAD; // 绕 Z 轴
|
||||
float pitch = -angle[0] * DEG_TO_RAD; // 绕 Y 轴
|
||||
float roll = -angle[1] * DEG_TO_RAD; // 绕 X 轴
|
||||
float yaw = -angle[2] * DEG_TO_RAD; // 绕 Z 轴
|
||||
|
||||
float cp = cosf(pitch);
|
||||
float sp = sinf(pitch);
|
||||
@ -189,20 +244,30 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
|
||||
|
||||
#if 1 //测试禁止状态下陀螺仪的三轴加速度，去掉重力分量后是否正常
|
||||
float tmp_device_acc[3];
|
||||
float tmp_world_acc[3];
|
||||
extern void remove_gravity_in_device_frame(const float *acc_device, const float *angle, float *acc_linear_device);
|
||||
remove_gravity_in_device_frame(acc_device_ms2,angle,tmp_device_acc);
|
||||
transform_acc_to_world_frame(acc_device_ms2,angle,tmp_world_acc);
|
||||
|
||||
// 计算处理后加速度的水平模长
|
||||
float all_device_mag = sqrtf(tmp_device_acc[0] * tmp_device_acc[0] +
|
||||
tmp_device_acc[1] * tmp_device_acc[1] +
|
||||
tmp_device_acc[2] * tmp_device_acc[2]);
|
||||
|
||||
float all_world_mag = sqrtf(tmp_world_acc[0] * tmp_world_acc[0] +
|
||||
tmp_world_acc[1] * tmp_world_acc[1] +
|
||||
tmp_world_acc[2] * tmp_world_acc[2]);
|
||||
|
||||
|
||||
static int count = 0;
|
||||
if(count > 100){
|
||||
xlog("===original(g): x %.2f, y %.2f, z %.2f===\n",acc_g[0],acc_g[1],acc_g[2]);
|
||||
xlog("===device(m/s^2) no g: x %.2f, y %.2f, z %.2f, all %.2f===\n",tmp_device_acc[0],tmp_device_acc[1],tmp_device_acc[2],all_device_mag); //去掉重力加速度
|
||||
xlog("===world(m/s^2) no g: x %.2f, y %.2f, z %.2f, all %.2f===\n",tmp_world_acc[0],tmp_world_acc[1],tmp_world_acc[2]),tmp_world_acc; //去掉重力加速度
|
||||
xlog("===gyr(dps) : x %.2f, y %.2f, z %.2f, all %.2f===\n",gyr_dps[0],gyr_dps[1],gyr_dps[2]); //angle
|
||||
xlog("===angle : x %.2f, y %.2f, z %.2f,===\n",angle[0],angle[1],angle[2]);
|
||||
count = 0;
|
||||
|
||||
}
|
||||
count++;
|
||||
|
||||
|
||||
@ -20,6 +20,7 @@
|
||||
#include "btstack/avctp_user.h"
|
||||
#include "calculate/skiing_tracker.h"
|
||||
#include "xtell.h"
|
||||
#include "./ano/ano_protocol.h"
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
//宏定义
|
||||
#define ENABLE_XLOG 1
|
||||
@ -66,83 +67,11 @@ u16 test_id=0;
|
||||
//////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
|
||||
// /**
|
||||
// * @brief 向匿名上位机发送数据帧
|
||||
// * @param function_id 功能码 (例如 0x01, 0x03)
|
||||
// * @param data 指向 int16_t 数据数组的指针 (例如加速度、欧拉角)
|
||||
// * @param data_len int16_t 数据的个数 (例如发送6轴数据时为6，发送3个欧拉角时为3)
|
||||
// * @param status_byte 附加的状态字节 (例如 SHOCK_STA 或 FUSION_STA)
|
||||
// */
|
||||
// void send_data_anotc(uint8_t function_id, int16_t* data, uint8_t data_len, uint8_t status_byte) {
|
||||
// // 定义一个足够大的缓冲区来构建数据帧
|
||||
// // 最大长度(ID 0x01): 1(HEAD)+1(D_ADDR)+1(ID)+1(LEN)+13(DATA)+1(SC)+1(AC) = 19字节
|
||||
// uint8_t buffer[32];
|
||||
|
||||
// uint8_t data_payload_len = data_len * sizeof(int16_t) + sizeof(uint8_t);
|
||||
|
||||
// // 1. 填充帧头和地址
|
||||
// buffer[0] = 0xAA; // 帧头 HEAD
|
||||
// buffer[1] = 0xFF; // 目标地址 D_ADDR
|
||||
|
||||
// // 2. 填充功能码和数据长度
|
||||
// buffer[2] = function_id;
|
||||
// buffer[3] = data_payload_len;
|
||||
|
||||
// // 3. 填充数据内容 (DATA)
|
||||
// // 首先使用 memcpy 拷贝主要的 int16_t 数组数据
|
||||
// // &buffer[4] 是数据区的起始地址
|
||||
// memcpy(&buffer[4], (uint8_t*)data, data_len * sizeof(int16_t));
|
||||
// // 然后在数据区末尾填充状态字节
|
||||
// buffer[4 + data_len * sizeof(int16_t)] = status_byte;
|
||||
|
||||
// // 4. 计算校验和 (SC 和 AC)
|
||||
// uint8_t sum_check = 0;
|
||||
// uint8_t add_check = 0;
|
||||
|
||||
// // SC: 和校验 (从帧头到数据区最后一个字节)
|
||||
// for (int i = 0; i < 4 + data_payload_len; ++i) {
|
||||
// sum_check += buffer[i];
|
||||
// }
|
||||
|
||||
// // 将SC填充到缓冲区
|
||||
// buffer[4 + data_payload_len] = sum_check;
|
||||
|
||||
// // AC: 附加校验 (从帧头到SC)
|
||||
// for (int i = 0; i < 4 + data_payload_len + 1; ++i) {
|
||||
// add_check += buffer[i];
|
||||
// }
|
||||
|
||||
// // 将AC填充到缓冲区
|
||||
// buffer[4 + data_payload_len + 1] = add_check;
|
||||
|
||||
// // 5. 发送整个数据帧
|
||||
// uint16_t frame_length = 4 + data_payload_len + 2;
|
||||
// // Serial_Send_Buffer(buffer, frame_length);
|
||||
// for (int i = 0; i < frame_length; ++i) {
|
||||
// // 使用 %c 格式化字符来发送单个字节的原始值
|
||||
// printf("%c", buffer[i]);
|
||||
// }
|
||||
// printf("\n");
|
||||
// }
|
||||
|
||||
void ble_send_data(signed short *acc_gyro_input, float *Angle_output){
|
||||
char buffer[50]; //一次最多发送50字节
|
||||
u8 len = 0;
|
||||
//AA FF 01 六轴数据 EE
|
||||
//TO DO
|
||||
send_data_to_ble_client(&buffer,len);
|
||||
|
||||
|
||||
//AA FF 02 欧若拉角数据 EE
|
||||
// TO DO
|
||||
send_data_to_ble_client(&buffer,len);
|
||||
}
|
||||
|
||||
|
||||
// 从环形缓冲区读取数据并发送
|
||||
void send_sensor_data_task(void) {
|
||||
// printf("xtell_ble_send\n");
|
||||
}
|
||||
|
||||
|
||||
#if 0
|
||||
BLE_send_data_t BLE_send_data;
|
||||
@ -249,13 +178,15 @@ static circle_buffer_t sensor_read; // 环形缓冲区管理结构体
|
||||
typedef struct {
|
||||
signed short acc_data[3];
|
||||
signed short gyr_data[3];
|
||||
float angle[3];
|
||||
float angle[3]; //pitch roll yaw
|
||||
} sensor_data_t;
|
||||
static sensor_data_t sensor_read_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放sensor读到的数据
|
||||
|
||||
static circle_buffer_t sensor_send; // 环形缓冲区管理结构体
|
||||
static BLE_send_data_t sensor_send_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放ble要发送的数据
|
||||
|
||||
static u8 mutex1 = 0;
|
||||
static u8 mutex2 = 0;
|
||||
|
||||
/**
|
||||
* @brief //读取传感器的数据放进缓冲区
|
||||
@ -280,16 +211,19 @@ void sensor_read_data(){
|
||||
memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short));
|
||||
|
||||
if (!calibration_done) { //第1次启动，开启零漂检测
|
||||
// status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
// status = SIX_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
// status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
|
||||
// static count = 0;
|
||||
// if(count > 100){
|
||||
// count = 0;
|
||||
// xlog("SL_SC7U22_Angle_Output status:%d",status);
|
||||
// xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2],tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);
|
||||
// }
|
||||
// count++;
|
||||
int count = 0;
|
||||
if(count > 100){
|
||||
count = 0;
|
||||
char log_buffer[100]; // 100个字符应该足够了
|
||||
// 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);
|
||||
}
|
||||
count++;
|
||||
|
||||
if (status == 1) {
|
||||
calibration_done = 1;
|
||||
@ -297,11 +231,18 @@ void sensor_read_data(){
|
||||
}
|
||||
} else {
|
||||
// printf("Calculate the time interval =============== start\n");
|
||||
// status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
// status = SIX_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
// status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
|
||||
memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
|
||||
circle_buffer_write(&sensor_read, &tmp);
|
||||
if(mutex1 == 0){
|
||||
mutex1 = 1;
|
||||
circle_buffer_write(&sensor_read, &tmp);
|
||||
mutex1 = 0;
|
||||
}
|
||||
extern void ano_send_attitude_data(float rol, float pit, float yaw, uint8_t fusion_sta) ;
|
||||
ano_send_attitude_data(tmp.angle[0],tmp.angle[1],tmp.angle[2], 1);
|
||||
}
|
||||
// xlog("=======sensor_read_data END\n");
|
||||
|
||||
@ -316,12 +257,27 @@ void calculate_data(){
|
||||
return;
|
||||
}
|
||||
|
||||
circle_buffer_read(&sensor_read, &tmp);
|
||||
if(mutex1 == 0){
|
||||
mutex1 = 1;
|
||||
circle_buffer_read(&sensor_read, &tmp);
|
||||
mutex1 = 0;
|
||||
}else{
|
||||
return;
|
||||
}
|
||||
|
||||
BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle);
|
||||
|
||||
|
||||
|
||||
if(circle_buffer_is_full(&sensor_send))
|
||||
return;
|
||||
circle_buffer_write(&sensor_send, &data_by_calculate);
|
||||
|
||||
if(mutex2 == 0){
|
||||
mutex2 = 1;
|
||||
circle_buffer_write(&sensor_send, &data_by_calculate);
|
||||
mutex2 = 0;
|
||||
}
|
||||
|
||||
|
||||
// extern void BLE_send_data();
|
||||
// BLE_send_data();
|
||||
@ -339,7 +295,14 @@ void BLE_send_data(){
|
||||
#ifdef XTELL_TEST
|
||||
// #if 0
|
||||
BLE_send_data_t tmp;
|
||||
circle_buffer_read(&sensor_send, &tmp);
|
||||
if(mutex2 == 0){
|
||||
mutex2 = 1;
|
||||
circle_buffer_read(&sensor_send, &tmp);
|
||||
mutex2 = 0;
|
||||
}else{
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
if(count >=100){
|
||||
// extern debug_t debug2;
|
||||
@ -361,6 +324,7 @@ void BLE_send_data(){
|
||||
// send_data_to_ble_client(&log_buffer,strlen(log_buffer));
|
||||
|
||||
memset(&log_buffer, 0, 100);
|
||||
#if 0
|
||||
// 使用 snprintf 进行格式化
|
||||
num_chars_written = snprintf(
|
||||
log_buffer, // 目标缓冲区
|
||||
@ -398,7 +362,7 @@ void BLE_send_data(){
|
||||
tmp.angle_data[0],tmp.angle_data[1],tmp.angle_data[2]
|
||||
);
|
||||
send_data_to_ble_client(&log_buffer,strlen(log_buffer));
|
||||
|
||||
#endif
|
||||
short acc_mo_cms = sqrtf(tmp.acc_data[0]*tmp.acc_data[0] + tmp.acc_data[1]*tmp.acc_data[1] + tmp.acc_data[2]*tmp.acc_data[2])-900;
|
||||
memset(&log_buffer, 0, 100);
|
||||
num_chars_written = snprintf(
|
||||
@ -485,6 +449,56 @@ void xt_hw_iic_test(){
|
||||
}
|
||||
#endif
|
||||
|
||||
void sensor_measure(void){
|
||||
// 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;
|
||||
if(circle_buffer_is_full(&sensor_read)){
|
||||
// xlog("sensor_read_data: read buffer full\n");
|
||||
return;
|
||||
}
|
||||
|
||||
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));
|
||||
|
||||
if (!calibration_done) { //第1次启动，开启零漂检测
|
||||
status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
// status = SIX_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
// status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
|
||||
|
||||
int count = 0;
|
||||
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);
|
||||
}
|
||||
count++;
|
||||
|
||||
if (status == 1) {
|
||||
calibration_done = 1;
|
||||
printf("Sensor calibration successful! Skiing mode is active.\n");
|
||||
}
|
||||
} else {
|
||||
// printf("Calculate the time interval =============== start\n");
|
||||
status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
// status = SIX_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
// status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
|
||||
memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
|
||||
memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
|
||||
BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle);
|
||||
extern void ano_send_attitude_data(float rol, float pit, float yaw, uint8_t fusion_sta) ;
|
||||
ano_send_attitude_data(tmp.angle[0],tmp.angle[1],tmp.angle[2], 1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void xtell_task_create(void){
|
||||
|
||||
// int ret = hw_iic_init(0);
|
||||
@ -507,7 +521,7 @@ void xtell_task_create(void){
|
||||
gpio_direction_output(IO_PORTE_05,1);
|
||||
|
||||
// os_time_dly(10);
|
||||
delay_2ms(10);
|
||||
// delay_2ms(10);
|
||||
|
||||
SL_SC7U22_Config();
|
||||
// extern u8 LIS2DH12_Config(void);
|
||||
@ -518,6 +532,9 @@ void xtell_task_create(void){
|
||||
// circle_buffer_init(&sensor_cb, sensor_data_buffer, SENSOR_DATA_BUFFER_SIZE);
|
||||
|
||||
|
||||
ano_protocol_init(115200);
|
||||
// create_process(&calculate_data_id, "calculate",NULL, sensor_measure, 10);
|
||||
|
||||
circle_buffer_init(&sensor_read, sensor_read_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(sensor_data_t));
|
||||
|
||||
circle_buffer_init(&sensor_send, sensor_send_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
#include "os/os_api.h"
|
||||
#include "../xtell.h"
|
||||
|
||||
// #define ENABLE_XLOG 1
|
||||
#define ENABLE_XLOG 1
|
||||
#ifdef xlog
|
||||
#undef xlog
|
||||
#endif
|
||||
@ -270,7 +270,7 @@ void SL_SC7U22_RawData_Read(signed short * acc_data_buf,signed short * gyr_data_
|
||||
gyr_data_buf[1] =(signed short)((((unsigned char)raw_data[8])* 256) + ((unsigned char)raw_data[9]));//GYRY-16位
|
||||
gyr_data_buf[2] =(signed short)((((unsigned char)raw_data[10])* 256) + ((unsigned char)raw_data[11]));//GYRZ-16位
|
||||
|
||||
xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",acc_data_buf[0],acc_data_buf[1],acc_data_buf[2],gyr_data_buf[0],gyr_data_buf[1],gyr_data_buf[2]);
|
||||
// xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",acc_data_buf[0],acc_data_buf[1],acc_data_buf[2],gyr_data_buf[0],gyr_data_buf[1],gyr_data_buf[2]);
|
||||
|
||||
}
|
||||
#else
|
||||
@ -666,7 +666,7 @@ float angle0[3] = {0, 0, 0}, angle_dot0[3] = {0, 0, 0}; // 姿态角的估计值
|
||||
// Q_gyro: 过程噪声协方差，表示陀螺仪偏置（bias）的不确定性。
|
||||
// R_angle: 测量噪声协方差，表示通过加速度计计算出的角度测量值的不确定性。值越小，表示越相信加速度计的测量结果。
|
||||
// dt: 采样时间间隔（单位：秒），这里是10ms (0.01s)，对应100Hz的采样率。
|
||||
//float Q_angle=0.0003, Q_gyro=0.001, R_angle=0.005, dt=0.005;//5ms ST
|
||||
// float Q_angle=0.0003, Q_gyro=0.001, R_angle=0.005, dt=0.005;//5ms ST
|
||||
//float Q_angle=0.00001, Q_gyro=0.00001, R_angle=0.005, dt=0.0025;//5ms ST
|
||||
float Q_angle = 0.0003, Q_gyro = 0.001, R_angle = 0.005, dt = 0.01; //10ms
|
||||
|
||||
@ -1166,72 +1166,321 @@ unsigned char get_calibration_state(void){
|
||||
|
||||
#endif
|
||||
|
||||
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
/*
|
||||
//-----------------------------------------
|
||||
调用示例-by_lmx：
|
||||
#if 0
|
||||
// --- 新增：定义自动化校准状态 ---
|
||||
typedef enum {
|
||||
CAL_STATE_IDLE, // 0: 空闲，未开始校准
|
||||
CAL_STATE_WAIT_STILL, // 1: 等待设备静止
|
||||
CAL_STATE_COLLECTING, // 2: 正在采集数据
|
||||
CAL_STATE_PAUSE_BETWEEN_FACES, // 3: 面与面之间的暂停
|
||||
CAL_STATE_CALCULATING, // 4: 正在计算最终参数
|
||||
CAL_STATE_FINISHED, // 5: 校准完成，参数有效
|
||||
} SL_AutoCalib_State;
|
||||
|
||||
// --- 新增：定义校准的面 ---
|
||||
typedef enum {
|
||||
CAL_FACE_POS_Z = 0, // Z+
|
||||
CAL_FACE_NEG_Z, // Z-
|
||||
CAL_FACE_POS_Y, // Y+
|
||||
CAL_FACE_NEG_Y, // Y-
|
||||
CAL_FACE_POS_X, // X+
|
||||
CAL_FACE_NEG_X, // X-
|
||||
CAL_FACE_COUNT // 总面数
|
||||
} SL_Calib_Face;
|
||||
|
||||
// --- 校准参数常量 ---
|
||||
#define CAL_STILL_TIME_THRESHOLD 190 // 需要静止的采样周期数 (约1.9s)
|
||||
#define CAL_SAMPLES_TO_COLLECT 50 // 每个面采集的样本数
|
||||
#define CAL_PAUSE_SECONDS 4 // 面间暂停秒数
|
||||
|
||||
// --- 修改/新增 全局变量 ---
|
||||
static SL_AutoCalib_State g_calib_state = CAL_STATE_IDLE;
|
||||
static SL_Calib_Face g_current_calib_face = CAL_FACE_POS_Z;
|
||||
static unsigned short g_still_count = 0;
|
||||
static unsigned char g_samples_collected = 0;
|
||||
static unsigned short g_pause_timer = 0;
|
||||
|
||||
static long g_calib_data_sum[6] = {0};
|
||||
static signed short g_calib_avg_data[CAL_FACE_COUNT][6] = {{0}};
|
||||
|
||||
static float g_acc_offset[3] = {0.0f};
|
||||
static float g_acc_scale[3] = {1.0f, 1.0f, 1.0f};
|
||||
static signed short g_gyro_offset[3] = {0}; // 陀螺仪偏移用整数更符合原始数据类型
|
||||
|
||||
static unsigned char g_calibration_valid = 0;
|
||||
|
||||
|
||||
//1.
|
||||
// 定义用于存放传感器数据的缓冲区
|
||||
static signed short acc_raw_data[3]; // [0]: acc_x, [1]: acc_y, [2]: acc_z
|
||||
static signed short gyr_raw_data[3]; // [0]: gyr_x, [1]: gyr_y, [2]: gyr_z
|
||||
static signed short combined_raw_data[6]; // 用于合并 acc 和 gyr 数据
|
||||
static float final_angle_data[3]; // [0]: Pitch, [1]: Roll, [2]: Yaw
|
||||
|
||||
// 传感器数据处理任务
|
||||
void sensor_processing_task(void *priv)
|
||||
#if (ACC_RANGE == 2)
|
||||
#define G_VALUE (16384.0f)
|
||||
#elif (ACC_RANGE == 4)
|
||||
#define G_VALUE (8192.0f)
|
||||
#elif (ACC_RANGE == 8)
|
||||
#define G_VALUE (4096.0f)
|
||||
#elif (ACC_RANGE == 16)
|
||||
#define G_VALUE (2048.0f)
|
||||
#endif
|
||||
/**
|
||||
* @brief IMU姿态解算函数，增加了六面校准功能。
|
||||
* @param calibration_cmd 校准命令，来自 SL_Calibration_Cmd 枚举。
|
||||
* @param acc_gyro_input 指向6轴原始数据的指针 (AccX,Y,Z, GyroX,Y,Z)。
|
||||
* @param Angle_output 指向3轴姿态角输出的指针 (Pitch, Roll, Yaw)。
|
||||
* @param yaw_rst Yaw轴复位标志。
|
||||
* @return unsigned char 0: 正在校准, 1: 计算成功, 2: 校准未完成，无法计算。
|
||||
*/
|
||||
unsigned char SIX_SL_SC7U22_Angle_Output(unsigned char auto_calib_start, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst)
|
||||
{
|
||||
while (1) {
|
||||
// 4. 周期性调用读取函数，获取原始数据
|
||||
SL_SC7U22_RawData_Read(acc_raw_data, gyr_raw_data);
|
||||
unsigned char sl_i = 0;
|
||||
|
||||
// 5. 合并加速度和角速度数据到一个数组中
|
||||
// SL_SC7U22_Angle_Output 函数需要一个包含6个元素的数组作为输入
|
||||
memcpy(&combined_raw_data[0], acc_raw_data, sizeof(acc_raw_data));
|
||||
memcpy(&combined_raw_data[3], gyr_raw_data, sizeof(gyr_raw_data));
|
||||
// 启动自动化校准流程
|
||||
if (auto_calib_start == 1 && g_calib_state == CAL_STATE_IDLE) {
|
||||
g_calib_state = CAL_STATE_WAIT_STILL;
|
||||
g_current_calib_face = CAL_FACE_POS_Z;
|
||||
g_calibration_valid = 0;
|
||||
xlog("\n\n===== Auto-Calibration Started =====\r\n");
|
||||
xlog("Step 1/%d: Place device with Z-axis pointing UPWARD and keep it still.\r\n", CAL_FACE_COUNT);
|
||||
}
|
||||
|
||||
// 6. 调用姿态解算函数
|
||||
// 参数: (校准使能, 输入的6轴数据, 输出的角度数据, Yaw轴复位标志)
|
||||
// calibration_en = 1: 让函数内部自动管理校准过程
|
||||
// yaw_rst = 0: 不复位Yaw角
|
||||
unsigned char status = SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
|
||||
|
||||
// 7. 检查函数返回的状态
|
||||
if (status == 1) {
|
||||
// 计算成功，final_angle_data 中的数据有效
|
||||
xlog("Pitch: %.2f, Roll: %.2f, Yaw: %.2f\n", final_angle_data[0], final_angle_data[1], final_angle_data[2]);
|
||||
} else if (status == 0) {
|
||||
// 传感器正在进行静态校准，此时角度数据可能不准确
|
||||
xlog("Sensor is calibrating...\n");
|
||||
} else {
|
||||
// status == 2, 表示校准未完成或发生错误
|
||||
xlog("Angle calculation error or calibration not finished.\n");
|
||||
// =================================================================================
|
||||
// 步骤 1: 自动化校准状态机
|
||||
// ---------------------------------------------------------------------------------
|
||||
if (g_calib_state != CAL_STATE_IDLE && g_calib_state != CAL_STATE_FINISHED) {
|
||||
// --- 静止检测 (通用逻辑) ---
|
||||
unsigned short acc_delta = 0, gyro_delta = 0;
|
||||
for (sl_i = 0; sl_i < 3; sl_i++) {
|
||||
acc_delta += SL_GetAbsShort(acc_gyro_input[sl_i] - Temp_Accgyro[sl_i]);
|
||||
gyro_delta += SL_GetAbsShort(acc_gyro_input[3 + sl_i] - Temp_Accgyro[3 + sl_i]);
|
||||
}
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) Temp_Accgyro[sl_i] = acc_gyro_input[sl_i];
|
||||
|
||||
int is_still = (acc_delta < 160) && (gyro_delta < 40);
|
||||
|
||||
// 延时一段时间，例如10ms (对应100Hz)
|
||||
os_time_dly(1);
|
||||
switch (g_calib_state) {
|
||||
case CAL_STATE_WAIT_STILL:
|
||||
if (is_still) {
|
||||
if (++g_still_count >= CAL_STILL_TIME_THRESHOLD) {
|
||||
g_calib_state = CAL_STATE_COLLECTING;
|
||||
g_samples_collected = 0;
|
||||
g_still_count = 0;
|
||||
for(sl_i = 0; sl_i < 6; sl_i++) g_calib_data_sum[sl_i] = 0;
|
||||
xlog("Device is still. Collecting data...\r\n");
|
||||
}
|
||||
} else {
|
||||
g_still_count = 0; // 如果移动则重置计数
|
||||
}
|
||||
break;
|
||||
|
||||
case CAL_STATE_COLLECTING:
|
||||
if (!is_still) { // 如果在采集中移动了，则重新开始等待静止
|
||||
g_calib_state = CAL_STATE_WAIT_STILL;
|
||||
g_still_count = 0;
|
||||
xlog("Movement detected! Please keep the device still.\r\n");
|
||||
break;
|
||||
}
|
||||
|
||||
if (g_samples_collected < CAL_SAMPLES_TO_COLLECT) {
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) {
|
||||
g_calib_data_sum[sl_i] += acc_gyro_input[sl_i];
|
||||
}
|
||||
g_samples_collected++;
|
||||
} else {
|
||||
// 当前面采集完成
|
||||
for (sl_i = 0; sl_i < 6; sl_i++) {
|
||||
g_calib_avg_data[g_current_calib_face][sl_i] = g_calib_data_sum[sl_i] / CAL_SAMPLES_TO_COLLECT;
|
||||
}
|
||||
xlog("Face %d data collected.\r\n", g_current_calib_face + 1);
|
||||
|
||||
if (g_current_calib_face < CAL_FACE_NEG_X) {
|
||||
g_calib_state = CAL_STATE_PAUSE_BETWEEN_FACES;
|
||||
g_pause_timer = 0;
|
||||
xlog("Pausing for %d seconds. Please prepare for the next orientation.\r\n", CAL_PAUSE_SECONDS);
|
||||
} else {
|
||||
// 所有面都已完成
|
||||
g_calib_state = CAL_STATE_CALCULATING;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case CAL_STATE_PAUSE_BETWEEN_FACES:
|
||||
if (++g_pause_timer >= (CAL_PAUSE_SECONDS * 1000 / dt)) {
|
||||
g_current_calib_face++;
|
||||
g_calib_state = CAL_STATE_WAIT_STILL;
|
||||
g_still_count = 0;
|
||||
switch(g_current_calib_face) {
|
||||
case CAL_FACE_NEG_Z: xlog("Step 2/%d: Place device with Z-axis pointing DOWNWARD and keep it still.\r\n", CAL_FACE_COUNT); break;
|
||||
case CAL_FACE_POS_Y: xlog("Step 3/%d: Place device with Y-axis pointing UPWARD and keep it still.\r\n", CAL_FACE_COUNT); break;
|
||||
case CAL_FACE_NEG_Y: xlog("Step 4/%d: Place device with Y-axis pointing DOWNWARD and keep it still.\r\n", CAL_FACE_COUNT); break;
|
||||
case CAL_FACE_POS_X: xlog("Step 5/%d: Place device with X-axis pointing UPWARD and keep it still.\r\n", CAL_FACE_COUNT); break;
|
||||
case CAL_FACE_NEG_X: xlog("Step 6/%d: Place device with X-axis pointing DOWNWARD and keep it still.\r\n", CAL_FACE_COUNT); break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case CAL_STATE_CALCULATING:
|
||||
xlog("All data collected. Calculating calibration parameters...\r\n");
|
||||
// 计算陀螺仪偏移
|
||||
long gyro_sum[3] = {0};
|
||||
for (sl_i = 0; sl_i < CAL_FACE_COUNT; sl_i++) {
|
||||
gyro_sum[0] += g_calib_avg_data[sl_i][3]; // Gx
|
||||
gyro_sum[1] += g_calib_avg_data[sl_i][4]; // Gy
|
||||
gyro_sum[2] += g_calib_avg_data[sl_i][5]; // Gz
|
||||
}
|
||||
g_gyro_offset[0] = gyro_sum[0] / CAL_FACE_COUNT;
|
||||
g_gyro_offset[1] = gyro_sum[1] / CAL_FACE_COUNT;
|
||||
g_gyro_offset[2] = gyro_sum[2] / CAL_FACE_COUNT;
|
||||
|
||||
// 计算加速度计偏移和增益
|
||||
g_acc_offset[0] = (g_calib_avg_data[CAL_FACE_POS_X][0] + g_calib_avg_data[CAL_FACE_NEG_X][0]) / 2.0f;
|
||||
g_acc_scale[0] = (2.0f * G_VALUE) / (g_calib_avg_data[CAL_FACE_POS_X][0] - g_calib_avg_data[CAL_FACE_NEG_X][0]);
|
||||
g_acc_offset[1] = (g_calib_avg_data[CAL_FACE_POS_Y][1] + g_calib_avg_data[CAL_FACE_NEG_Y][1]) / 2.0f;
|
||||
g_acc_scale[1] = (2.0f * G_VALUE) / (g_calib_avg_data[CAL_FACE_POS_Y][1] - g_calib_avg_data[CAL_FACE_NEG_Y][1]);
|
||||
g_acc_offset[2] = (g_calib_avg_data[CAL_FACE_POS_Z][2] + g_calib_avg_data[CAL_FACE_NEG_Z][2]) / 2.0f;
|
||||
g_acc_scale[2] = (2.0f * G_VALUE) / (g_calib_avg_data[CAL_FACE_POS_Z][2] - g_calib_avg_data[CAL_FACE_NEG_Z][2]);
|
||||
|
||||
g_calibration_valid = 1;
|
||||
g_calib_state = CAL_STATE_FINISHED;
|
||||
xlog("===== Calibration Finished! =====\r\n");
|
||||
xlog("Acc Offset: %.2f, %.2f, %.2f\r\n", g_acc_offset[0], g_acc_offset[1], g_acc_offset[2]);
|
||||
xlog("Acc Scale: %.4f, %.4f, %.4f\r\n", g_acc_scale[0], g_acc_scale[1], g_acc_scale[2]);
|
||||
xlog("Gyro Offset: %d, %d, %d\r\n", g_gyro_offset[0], g_gyro_offset[1], g_gyro_offset[2]);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
return 0; // 只要还在校准流程中，就返回0
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// 应用程序主入口或初始化函数
|
||||
void app_main()
|
||||
{
|
||||
// ... 其他初始化代码 ...
|
||||
|
||||
// 2. 调用初始化函数来配置SCU722传感器
|
||||
unsigned char init_success = SL_SC7U22_Config();
|
||||
|
||||
if (init_success) {
|
||||
xlog("SCU722 初始化成功!\n");
|
||||
// 3. 创建一个任务来周期性地读取和处理数据
|
||||
task_create(sensor_processing_task, NULL, "sensor_task");
|
||||
} else {
|
||||
xlog("SCU722 初始化失败!\n");
|
||||
// =================================================================================
|
||||
// 步骤 2: 姿态解算
|
||||
// ---------------------------------------------------------------------------------
|
||||
if (g_calibration_valid == 0) {
|
||||
return 2; // 校准未完成，无法进行姿态解算
|
||||
}
|
||||
|
||||
// ...
|
||||
}
|
||||
float angle_acc[3] = {0};
|
||||
float gyro_val[3] = {0};
|
||||
float calibrated_acc[3] = {0};
|
||||
|
||||
//-----------------------------------------
|
||||
*/
|
||||
// --- 2.1 数据预处理 (应用新的校准参数) ---
|
||||
// 应用偏移和增益校准加速度计
|
||||
calibrated_acc[0] = ((float)acc_gyro_input[0] - g_acc_offset[0]) * g_acc_scale[0];
|
||||
calibrated_acc[1] = ((float)acc_gyro_input[1] - g_acc_offset[1]) * g_acc_scale[1];
|
||||
calibrated_acc[2] = ((float)acc_gyro_input[2] - g_acc_offset[2]) * g_acc_scale[2];
|
||||
|
||||
// 应用偏移校准陀螺仪
|
||||
gyro_val[0] = ((float)acc_gyro_input[4] - g_gyro_offset[1]) * 0.061; // GYR-Y -> Pitch
|
||||
gyro_val[1] = ((float)acc_gyro_input[3] - g_gyro_offset[0]) * 0.061; // GYR-X -> Roll
|
||||
gyro_val[2] = ((float)acc_gyro_input[5] - g_gyro_offset[2]) * 0.061; // GYR-Z -> Yaw
|
||||
|
||||
// --- 2.2 使用校准后的加速度计计算姿态角 ---
|
||||
// 将校准后的加速度值转换为归一化的重力分量
|
||||
angle_acc[0] = calibrated_acc[0] / G_VALUE; // ax
|
||||
angle_acc[1] = calibrated_acc[1] / G_VALUE; // ay
|
||||
angle_acc[2] = calibrated_acc[2] / G_VALUE; // az
|
||||
|
||||
// 限制范围，防止asinf/atanf计算错误
|
||||
if (angle_acc[0] > 1.0f) angle_acc[0] = 1.0f;
|
||||
if (angle_acc[0] < -1.0f) angle_acc[0] = -1.0f;
|
||||
// ... (对 angle_acc[1] 和 angle_acc[2] 也做同样处理)
|
||||
|
||||
angle_acc[0] = asinf(angle_acc[0]) * 57.29578f; // Pitch
|
||||
angle_acc[1] = atan2f(angle_acc[1], angle_acc[2]) * 57.29578f; // Roll (使用atan2更稳健)
|
||||
|
||||
// =================================================================================
|
||||
// 步骤 2.4: 卡尔曼滤波
|
||||
// 对Pitch和Roll分别进行滤波
|
||||
// ---------------------------------------------------------------------------------
|
||||
|
||||
/************** Pitch 轴滤波 **************/
|
||||
// --- 预测步骤 ---
|
||||
// 1. 预测状态：根据上一时刻的角度和当前角速度，预测当前角度
|
||||
angle0[0] += (gyro_val[0] - q_bias0[0]) * dt;
|
||||
// 2. 预测协方差：更新P矩阵，表示预测状态的不确定性
|
||||
Pdot0[0] = Q_angle - P0[0][1] - P0[1][0] + P0[1][1] * dt;
|
||||
Pdot0[1] = -P0[1][1];
|
||||
Pdot0[2] = -P0[1][1];
|
||||
Pdot0[3] = Q_gyro;
|
||||
P0[0][0] += Pdot0[0] * dt;
|
||||
P0[0][1] += Pdot0[1] * dt;
|
||||
P0[1][0] += Pdot0[2] * dt;
|
||||
P0[1][1] += Pdot0[3] * dt;
|
||||
|
||||
// --- 更新步骤 ---
|
||||
// 1. 计算卡尔曼增益 K
|
||||
PCt0_0[0] = C_0 * P0[0][0];
|
||||
PCt0_1[0] = C_0 * P0[1][0];
|
||||
E0[0] = R_angle + C_0 * PCt0_0[0];
|
||||
if (E0[0] == 0) { E0[0] = 0.0001; } // 防止除零
|
||||
K0_0[0] = PCt0_0[0] / E0[0];
|
||||
K0_1[0] = PCt0_1[0] / E0[0];
|
||||
|
||||
// 2. 计算测量余差（innovation）
|
||||
angle_err0[0] = angle_acc[0] - angle0[0];
|
||||
// 3. 更新状态估计：结合预测值和测量值，得到最优估计
|
||||
angle0[0] += K0_0[0] * angle_err0[0];
|
||||
// 4. 更新陀螺仪偏置估计
|
||||
q_bias0[0] += K0_1[0] * angle_err0[0];
|
||||
angle_dot0[0] = gyro_val[0] - q_bias0[0];
|
||||
|
||||
// 5. 更新协方差矩阵 P
|
||||
t0_0[0] = PCt0_0[0];
|
||||
t0_1[0] = C_0 * P0[0][1];
|
||||
P0[0][0] -= K0_0[0] * t0_0[0];
|
||||
P0[0][1] -= K0_0[0] * t0_1[0];
|
||||
P0[1][0] -= K0_1[0] * t0_0[0];
|
||||
P0[1][1] -= K0_1[0] * t0_1[0];
|
||||
|
||||
// 输出最终的Pitch角
|
||||
Angle_output[0] = angle0[0];
|
||||
|
||||
/************** Roll 轴滤波 (过程同Pitch) **************/
|
||||
// --- 预测步骤 ---
|
||||
angle0[1] += (gyro_val[1] - q_bias0[1]) * dt;
|
||||
Pdot1[0] = Q_angle - P1[0][1] - P1[1][0] + P1[1][1] * dt;
|
||||
Pdot1[1] = -P1[1][1];
|
||||
Pdot1[2] = -P1[1][1];
|
||||
Pdot1[3] = Q_gyro;
|
||||
P1[0][0] += Pdot1[0] * dt;
|
||||
P1[0][1] += Pdot1[1] * dt;
|
||||
P1[1][0] += Pdot1[2] * dt;
|
||||
P1[1][1] += Pdot1[3] * dt;
|
||||
|
||||
// --- 更新步骤 ---
|
||||
PCt0_0[1] = C_1 * P1[0][0];
|
||||
PCt0_1[1] = C_1 * P1[1][0];
|
||||
E0[1] = R_angle + C_1 * PCt0_0[1];
|
||||
if (E0[1] == 0) { E0[1] = 0.0001; }
|
||||
K0_0[1] = PCt0_0[1] / E0[1];
|
||||
K0_1[1] = PCt0_1[1] / E0[1];
|
||||
angle_err0[1] = angle_acc[1] - angle0[1];
|
||||
angle0[1] += K0_0[1] * angle_err0[1];
|
||||
q_bias0[1] += K0_1[1] * angle_err0[1];
|
||||
angle_dot0[1] = gyro_val[1] - q_bias0[1];
|
||||
t0_0[1] = PCt0_0[1];
|
||||
t0_1[1] = C_1 * P1[0][1];
|
||||
P1[0][0] -= K0_0[1] * t0_0[1];
|
||||
P1[0][1] -= K0_0[1] * t0_1[1];
|
||||
P1[1][0] -= K0_1[1] * t0_0[1];
|
||||
P1[1][1] -= K0_1[1] * t0_1[1];
|
||||
|
||||
// 输出最终的Roll角
|
||||
Angle_output[1] = angle0[1];
|
||||
|
||||
/************** Yaw 轴计算 **************/
|
||||
// Yaw角无法通过加速度计（重力）来校正，因此这里只使用陀螺仪进行简单积分。
|
||||
// 这种方法会因为陀螺仪的漂移而导致误差随时间累积。
|
||||
if (yaw_rst == 1) {
|
||||
Angle_output[2] = 0; // 如果有复位信号，则清零
|
||||
}
|
||||
|
||||
// 增加一个简单的阈值，当角速度较小时，认为没有转动，以减少漂移
|
||||
if (SL_GetAbsShort(Temp_Accgyro[5]) > 8) {
|
||||
Angle_output[2] += gyro_val[2] * dt;
|
||||
}
|
||||
|
||||
return 1; // 返回1，表示计算成功
|
||||
}
|
||||
#endif
|
||||
@ -131,7 +131,7 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en,signed short *
|
||||
/**input yaw_rst: reset yaw value***************************/
|
||||
|
||||
unsigned char Original_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst);
|
||||
|
||||
unsigned char SIX_SL_SC7U22_Angle_Output(unsigned char auto_calib_start, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst);
|
||||
unsigned char get_calibration_state(void);
|
||||
/**寄存器宏定义*******************************/
|
||||
#define SC7U22_WHO_AM_I 0x01
|
||||
|
||||
@ -925,72 +925,3 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
/*
|
||||
//-----------------------------------------
|
||||
调用示例-by_lmx：
|
||||
|
||||
|
||||
//1.
|
||||
// 定义用于存放传感器数据的缓冲区
|
||||
static signed short acc_raw_data[3]; // [0]: acc_x, [1]: acc_y, [2]: acc_z
|
||||
static signed short gyr_raw_data[3]; // [0]: gyr_x, [1]: gyr_y, [2]: gyr_z
|
||||
static signed short combined_raw_data[6]; // 用于合并 acc 和 gyr 数据
|
||||
static float final_angle_data[3]; // [0]: Pitch, [1]: Roll, [2]: Yaw
|
||||
|
||||
// 传感器数据处理任务
|
||||
void sensor_processing_task(void *priv)
|
||||
{
|
||||
while (1) {
|
||||
// 4. 周期性调用读取函数，获取原始数据
|
||||
SL_SC7U22_RawData_Read(acc_raw_data, gyr_raw_data);
|
||||
|
||||
// 5. 合并加速度和角速度数据到一个数组中
|
||||
// SL_SC7U22_Angle_Output 函数需要一个包含6个元素的数组作为输入
|
||||
memcpy(&combined_raw_data[0], acc_raw_data, sizeof(acc_raw_data));
|
||||
memcpy(&combined_raw_data[3], gyr_raw_data, sizeof(gyr_raw_data));
|
||||
|
||||
// 6. 调用姿态解算函数
|
||||
// 参数: (校准使能, 输入的6轴数据, 输出的角度数据, Yaw轴复位标志)
|
||||
// calibration_en = 1: 让函数内部自动管理校准过程
|
||||
// yaw_rst = 0: 不复位Yaw角
|
||||
unsigned char status = SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
|
||||
|
||||
// 7. 检查函数返回的状态
|
||||
if (status == 1) {
|
||||
// 计算成功，final_angle_data 中的数据有效
|
||||
printf("Pitch: %.2f, Roll: %.2f, Yaw: %.2f\n", final_angle_data[0], final_angle_data[1], final_angle_data[2]);
|
||||
} else if (status == 0) {
|
||||
// 传感器正在进行静态校准，此时角度数据可能不准确
|
||||
printf("Sensor is calibrating...\n");
|
||||
} else {
|
||||
// status == 2, 表示校准未完成或发生错误
|
||||
printf("Angle calculation error or calibration not finished.\n");
|
||||
}
|
||||
|
||||
// 延时一段时间，例如10ms (对应100Hz)
|
||||
os_time_dly(1);
|
||||
}
|
||||
}
|
||||
|
||||
// 应用程序主入口或初始化函数
|
||||
void app_main()
|
||||
{
|
||||
// ... 其他初始化代码 ...
|
||||
|
||||
// 2. 调用初始化函数来配置SCU722传感器
|
||||
unsigned char init_success = SL_SC7U22_Config();
|
||||
|
||||
if (init_success) {
|
||||
printf("SCU722 初始化成功!\n");
|
||||
// 3. 创建一个任务来周期性地读取和处理数据
|
||||
task_create(sensor_processing_task, NULL, "sensor_task");
|
||||
} else {
|
||||
printf("SCU722 初始化失败!\n");
|
||||
}
|
||||
|
||||
// ...
|
||||
}
|
||||
|
||||
//-----------------------------------------
|
||||
*/
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
File diff suppressed because one or more lines are too long
@ -61,42 +61,6 @@ objs/apps/common/audio/audio_plc.c.o
|
||||
objs/apps/common/audio/audio_utils.c.o
|
||||
-r=objs/apps/common/audio/audio_utils.c.o,digital_phase_inverter_s16,pl
|
||||
objs/apps/common/audio/decode/audio_key_tone.c.o
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_destroy,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_taskq_post_msg,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_time_dly,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,task_kill,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,local_irq_disable,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,free,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,local_irq_enable,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_init,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,zalloc,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,task_create,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play_sin,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play_name,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play_index,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_is_play,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_digvol_set,pl
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_taskq_pend,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_create_by_parm,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_app_start,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,fopen,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,fget_name,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,fclose,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,ASCII_StrCmpNoCase,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_create,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_file_app_create,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_app_set_frame_info,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_probe,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_mixer_get_ch_num,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,app_audio_state_switch,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,get_tone_vol,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_file_app_close,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_close,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,app_audio_state_exit,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_taskq_post_type,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,strlen,l
|
||||
-r=objs/apps/common/audio/decode/audio_key_tone.c.o,mixer,l
|
||||
objs/apps/common/audio/decode/decode.c.o
|
||||
-r=objs/apps/common/audio/decode/decode.c.o,audio_dec_app_create_param_init,pl
|
||||
-r=objs/apps/common/audio/decode/decode.c.o,audio_dac_get_channel,l
|
||||
@ -3008,8 +2972,6 @@ objs/apps/earphone/board/br28/board_jl701n_demo.c.o
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,sleep_enter_callback_common,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_init,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_set_callback,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,umidigi_chargestore_message_callback,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,app_umidigi_chargetore_message_deal,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_keep_dacvdd_en,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_wakeup_init,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_awakeup_set_callback,l
|
||||
@ -3020,7 +2982,6 @@ objs/apps/earphone/board/br28/board_jl701n_demo.c.o
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_open,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_close,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_write,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,ldo_port_wakeup_to_cmessage,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_ldo5v_fall_deal,l
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,status_config,pl
|
||||
-r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,key_table,pl
|
||||
@ -3242,7 +3203,6 @@ objs/apps/earphone/earphone.c.o
|
||||
-r=objs/apps/earphone/earphone.c.o,tone_play_index,l
|
||||
-r=objs/apps/earphone/earphone.c.o,app_earphone_key_event_handler,l
|
||||
-r=objs/apps/earphone/earphone.c.o,app_power_event_handler,l
|
||||
-r=objs/apps/earphone/earphone.c.o,app_umidigi_chargestore_event_handler,l
|
||||
-r=objs/apps/earphone/earphone.c.o,app_testbox_event_handler,l
|
||||
-r=objs/apps/earphone/earphone.c.o,rcsp_sys_event_handler_specific,l
|
||||
-r=objs/apps/earphone/earphone.c.o,get_tone_config,l
|
||||
@ -3288,7 +3248,6 @@ objs/apps/earphone/idle.c.o
|
||||
-r=objs/apps/earphone/idle.c.o,get_ui_busy_status,l
|
||||
-r=objs/apps/earphone/idle.c.o,dac_power_off,l
|
||||
-r=objs/apps/earphone/idle.c.o,power_set_soft_poweroff,l
|
||||
-r=objs/apps/earphone/idle.c.o,app_umidigi_chargestore_event_handler,l
|
||||
-r=objs/apps/earphone/idle.c.o,app_testbox_event_handler,l
|
||||
-r=objs/apps/earphone/idle.c.o,default_event_handler,l
|
||||
-r=objs/apps/earphone/idle.c.o,log_tag_const_i_APP_IDLE,l
|
||||
@ -4206,42 +4165,6 @@ objs/apps/earphone/power_manage/app_power_manage.c.o
|
||||
-r=objs/apps/earphone/power_manage/app_power_manage.c.o,log_tag_const_i_APP_POWER,l
|
||||
-r=objs/apps/earphone/power_manage/app_power_manage.c.o,VBAT_STATUS,pl
|
||||
objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_power_level,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,get_charge_online_flag,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_power_status,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_cover_status,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_earphone_online,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_bt_init_ok,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_sync_chg_level,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_sibling_chg_lev,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_power_level,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_check_going_to_poweroff,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_phone_disconnect,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,bt_ble_adv_ioctl,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_phone_connect,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_timeout_deal,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,get_current_app,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,strcmp,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_enter_soft_poweroff,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,tws_api_get_role,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,app_umidigi_chargestore_event_handler,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,log_print,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,user_send_cmd_prepare,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_timeout_add,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_timer_modify,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_event_to_user,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_event_notify,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,app_umidigi_chargetore_message_deal,pl
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,testbox_get_status,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,p33_soft_reset,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,get_vbat_need_shutdown,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,power_set_mode,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,vbat_check_init,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,task_switch,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,puts,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,log_tag_const_i_APP_UMIDIGI_CHARGESTORE,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,log_tag_const_e_APP_UMIDIGI_CHARGESTORE,l
|
||||
-r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,app_var,l
|
||||
objs/apps/earphone/rcsp/jl_phone_app.c.o
|
||||
-r=objs/apps/earphone/rcsp/jl_phone_app.c.o,jl_phone_app_init,pl
|
||||
-r=objs/apps/earphone/rcsp/jl_phone_app.c.o,bt_music_info_handle_register,l
|
||||
@ -4693,7 +4616,6 @@ objs/cpu/br28/audio_dec.c.o
|
||||
-r=objs/cpu/br28/audio_dec.c.o,mic_trim_run,pl
|
||||
-r=objs/cpu/br28/audio_dec.c.o,audio_dec_init,pl
|
||||
-r=objs/cpu/br28/audio_dec.c.o,tone_play_init,l
|
||||
-r=objs/cpu/br28/audio_dec.c.o,audio_key_tone_init,l
|
||||
-r=objs/cpu/br28/audio_dec.c.o,audio_decoder_task_create,l
|
||||
-r=objs/cpu/br28/audio_dec.c.o,request_irq,l
|
||||
-r=objs/cpu/br28/audio_dec.c.o,sound_pcm_driver_init,l
|
||||
@ -6257,11 +6179,6 @@ objs/cpu/br28/uart_dev.c.o
|
||||
-r=objs/cpu/br28/uart_dev.c.o,CONFIG_UART2_ENABLE_TX_DMA,pl
|
||||
-r=objs/cpu/br28/uart_dev.c.o,jiffies,l
|
||||
objs/cpu/br28/umidigi_chargestore.c.o
|
||||
-r=objs/cpu/br28/umidigi_chargestore.c.o,umidigi_chargestore_message_callback,pl
|
||||
-r=objs/cpu/br28/umidigi_chargestore.c.o,ldo_port_wakeup_to_cmessage,pl
|
||||
-r=objs/cpu/br28/umidigi_chargestore.c.o,usr_timer_add,l
|
||||
-r=objs/cpu/br28/umidigi_chargestore.c.o,gpio_read,l
|
||||
-r=objs/cpu/br28/umidigi_chargestore.c.o,usr_timer_del,l
|
||||
objs/apps/common/colorful_lights/colorful_lights.c.o
|
||||
-r=objs/apps/common/colorful_lights/colorful_lights.c.o,colorful_lights_function,pl
|
||||
-r=objs/apps/common/colorful_lights/colorful_lights.c.o,sys_timeout_del,l
|
||||
@ -6325,7 +6242,6 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bt_app_exit,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bt_hci_event_handler,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_power_event_handler,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_umidigi_chargestore_event_handler,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_testbox_event_handler,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,rcsp_sys_event_handler_specific,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,default_event_handler,l
|
||||
@ -6358,30 +6274,30 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,config_btctler_mode,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sniff_out,l
|
||||
objs/apps/earphone/xtell_Sensor/send_data.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,ble_send_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_sensor_data_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_read_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_full,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_RawData_Read,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,Original_SL_SC7U22_Angle_Output,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_Angle_Output,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,printf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_write,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,ano_send_attitude_data,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,calculate_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_empty,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_read,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_processing_task,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,strlen,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,snprintf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sqrtf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,snprintf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_measure,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,xtell_task_create,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,hw_iic_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_set_direction,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_set_pull_up,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_direction_output,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,delay_2ms,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_Config,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,ano_protocol_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_init,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,create_process,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,puts,l
|
||||
@ -6421,6 +6337,7 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_I2c_Spi_Write,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_I2c_Spi_Read,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Check,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,printf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Config,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_POWER_DOWN,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_SOFT_RESET,pl
|
||||
@ -6484,15 +6401,18 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,remove_gravity_in_device_frame,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,cosf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sinf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,forece_of_friction,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,skiing_tracker_update,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sqrtf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,printf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sensor_processing_task,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,fabsf,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,puts,l
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,debug2,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,KS_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,debug1,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,debug2,pl
|
||||
objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o
|
||||
-r=objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o,ano_protocol_init,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o,ano_send_inertial_data,pl
|
||||
-r=objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o,ano_send_attitude_data,pl
|
||||
cpu/br28/liba/cpu.a.llvm.19376.crc16.c
|
||||
-r=cpu/br28/liba/cpu.a.llvm.19376.crc16.c,__crc16_mutex_init,pl
|
||||
-r=cpu/br28/liba/cpu.a.llvm.19376.crc16.c,os_mutex_create,l
|
||||
|
||||
343201
cpu/br28/tools/sdk.lst
343201
cpu/br28/tools/sdk.lst
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@ -88,7 +88,4 @@ objs/apps/common/device/key/key_driver.c.o: \
|
||||
include_lib/btctrler/classic/hci_lmp.h \
|
||||
include_lib/system/device\rdec_key.h \
|
||||
include_lib/driver/cpu/br28\asm/rdec.h \
|
||||
include_lib/system/device\tent600_key.h \
|
||||
apps/earphone/include\tone_player.h cpu/br28\tone_player_api.h \
|
||||
cpu/br28/audio_config.h apps/common/audio\sine_make.h \
|
||||
include_lib/system\debug.h
|
||||
include_lib/system/device\tent600_key.h include_lib/system\debug.h
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
127
objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.d
Normal file
127
objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.d
Normal file
@ -0,0 +1,127 @@
|
||||
objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o: \
|
||||
apps/earphone/xtell_Sensor/ano/ano_protocol.c \
|
||||
apps/earphone/xtell_Sensor/ano/ano_protocol.h \
|
||||
include_lib\system/includes.h include_lib/system/init.h \
|
||||
include_lib/system/event.h include_lib/system/generic/typedef.h \
|
||||
include_lib/driver/cpu/br28\asm/cpu.h \
|
||||
include_lib/driver/cpu/br28\asm/br28.h \
|
||||
include_lib/driver/cpu/br28\asm/io_omap.h \
|
||||
include_lib/driver/cpu/br28\asm/io_imap.h \
|
||||
include_lib/driver/cpu/br28\asm/csfr.h \
|
||||
include_lib/driver/cpu/br28\asm/cache.h \
|
||||
include_lib/driver/cpu/br28\asm/irq.h \
|
||||
include_lib/driver/cpu/br28\asm/hwi.h \
|
||||
include_lib/system\generic/printf.h include_lib\system/generic/log.h \
|
||||
include_lib/system\generic/errno-base.h \
|
||||
C:/JL/pi32/pi32v2-include\string.h C:/JL/pi32/pi32v2-include/_ansi.h \
|
||||
C:/JL/pi32/pi32v2-include\newlib.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/config.h \
|
||||
C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/features.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/reent.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/_types.h \
|
||||
C:/JL/pi32/pi32v2-include\machine/_types.h \
|
||||
C:/JL/pi32/pi32v2-include\machine/_default_types.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/lock.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/cdefs.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/string.h \
|
||||
C:/JL/pi32/pi32v2-include\strings.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/types.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/_stdint.h \
|
||||
C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.h \
|
||||
include_lib/system/generic/list.h include_lib/system/generic/rect.h \
|
||||
include_lib/system/spinlock.h include_lib/system/generic\cpu.h \
|
||||
include_lib/system/generic\irq.h include_lib/system/task.h \
|
||||
include_lib/system/os/os_api.h include_lib/system\os/os_cpu.h \
|
||||
include_lib/system/generic\jiffies.h include_lib/system\os/os_error.h \
|
||||
include_lib/system\os/os_type.h include_lib/system\os/ucos_ii.h \
|
||||
include_lib/system\os/os_cfg.h include_lib/system\os/os_api.h \
|
||||
include_lib/system/timer.h include_lib/system/wait.h \
|
||||
include_lib/system/app_core.h include_lib/system/app_msg.h \
|
||||
include_lib/system/database.h include_lib/system/fs/fs.h \
|
||||
include_lib/system\generic/ioctl.h include_lib/system\generic/atomic.h \
|
||||
include_lib\system/sys_time.h include_lib/system/fs/fs_file_name.h \
|
||||
include_lib/system/fs/sdfile.h include_lib/system/power_manage.h \
|
||||
include_lib/system/syscfg_id.h include_lib/system/bank_switch.h \
|
||||
include_lib/system/generic/includes.h \
|
||||
include_lib/system/generic/ascii.h include_lib/system/generic/gpio.h \
|
||||
include_lib/driver/cpu/br28\asm/gpio.h \
|
||||
include_lib/system/generic/version.h include_lib/system/generic/lbuf.h \
|
||||
include_lib/system/generic/lbuf_lite.h \
|
||||
include_lib/system/generic/circular_buf.h \
|
||||
include_lib/system/generic/index.h \
|
||||
include_lib/system/generic/debug_lite.h \
|
||||
include_lib/system/device/includes.h \
|
||||
include_lib/system/device/device.h \
|
||||
include_lib/system\device/ioctl_cmds.h \
|
||||
include_lib/system/device/key_driver.h \
|
||||
include_lib/system/device/iokey.h include_lib/system/device/irkey.h \
|
||||
include_lib/system/device/adkey.h \
|
||||
include_lib/driver/cpu/br28\asm/adc_api.h \
|
||||
include_lib/system/device/slidekey.h \
|
||||
include_lib/system/device/touch_key.h \
|
||||
include_lib/driver/cpu/br28\asm/plcnt.h \
|
||||
include_lib/system/device/rdec_key.h \
|
||||
include_lib/driver/cpu/br28\asm/rdec.h \
|
||||
include_lib/driver/cpu/br28\asm/includes.h \
|
||||
include_lib/driver/cpu/br28\asm/crc16.h \
|
||||
include_lib/driver/cpu/br28\asm/clock.h \
|
||||
include_lib/driver/cpu/br28\asm/clock_hw.h \
|
||||
include_lib/driver/cpu/br28\asm/clock_define.h \
|
||||
include_lib/driver/cpu/br28\asm/uart.h \
|
||||
include_lib/driver\device/uart.h \
|
||||
include_lib/driver/cpu/br28\asm/uart_dev.h \
|
||||
include_lib/driver/cpu/br28\asm/spiflash.h \
|
||||
include_lib/driver\device/spiflash.h \
|
||||
include_lib/driver/cpu/br28\asm/power_interface.h \
|
||||
include_lib/driver/cpu/br28\asm/power/p33.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p33_sfr.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p33_app.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p33_io_app.h \
|
||||
include_lib/driver/cpu/br28/asm/power/rtc_app.h \
|
||||
include_lib/driver/cpu/br28\asm/power/p11.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p11_csfr.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p11_sfr.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p11_io_omap.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p11_io_imap.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p11_app.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p11.h \
|
||||
include_lib/driver/cpu/br28\asm/power/power_api.h \
|
||||
include_lib/driver/cpu/br28\asm/power/power_port.h \
|
||||
include_lib/driver/cpu/br28\asm/power/power_wakeup.h \
|
||||
include_lib/driver/cpu/br28\asm/power/power_reset.h \
|
||||
include_lib/driver/cpu/br28\asm/power/power_compat.h \
|
||||
include_lib/driver/cpu/br28\asm/power/lp_ipc.h \
|
||||
include_lib/driver/cpu/br28/asm/power/m2p_msg.h \
|
||||
include_lib/driver/cpu/br28/asm/power/p2m_msg.h \
|
||||
include_lib/driver/cpu/br28\asm/efuse.h \
|
||||
include_lib/driver/cpu/br28\asm/wdt.h \
|
||||
include_lib/driver/cpu/br28\asm/debug.h \
|
||||
include_lib/driver/cpu/br28\asm/timer.h \
|
||||
include_lib/driver/cpu/br28\asm/rtc.h \
|
||||
include_lib/driver\device/sdio_host_init.h \
|
||||
apps/earphone/include\app_config.h \
|
||||
apps/earphone/board/br28\board_config.h include_lib\media/audio_def.h \
|
||||
apps/earphone/board/br28/board_jl701n_demo_cfg.h \
|
||||
apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h \
|
||||
apps/common/device/usb\usb_std_class_def.h \
|
||||
apps/earphone/board/br28/board_jl701n_btemitter_cfg.h \
|
||||
apps/earphone/board/br28/board_jl701n_btemitter_global_build_cfg.h \
|
||||
apps/earphone/board/br28/board_jl701n_anc_cfg.h \
|
||||
apps/earphone/board/br28/board_jl701n_anc_global_build_cfg.h \
|
||||
apps/earphone/board/br28/board_jl7016g_hybrid_cfg.h \
|
||||
apps/earphone/board/br28/board_jl7016g_hybrid_global_build_cfg.h \
|
||||
apps/earphone/board/br28/board_jl7018f_demo_cfg.h \
|
||||
apps/earphone/board/br28/board_jl7018f_demo_global_build_cfg.h \
|
||||
apps/common/device/usb\usb_common_def.h \
|
||||
include_lib/btctrler\btcontroller_mode.h \
|
||||
apps/earphone/include/user_cfg_id.h \
|
||||
apps/common/config/include\bt_profile_cfg.h \
|
||||
include_lib/btctrler\btcontroller_modules.h \
|
||||
include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
|
||||
C:/JL/pi32/pi32v2-include\stdint.h \
|
||||
C:/JL/pi32/pi32v2-include\sys/_intsup.h \
|
||||
C:/JL/pi32/pi32v2-include\stdlib.h \
|
||||
C:/JL/pi32/pi32v2-include\machine/stdlib.h \
|
||||
C:/JL/pi32/pi32v2-include\alloca.h \
|
||||
include_lib/btctrler/classic/hci_lmp.h
|
||||
BIN
objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o
Normal file
BIN
objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o
Normal file
Binary file not shown.
Binary file not shown.
@ -141,4 +141,5 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o: \
|
||||
apps/earphone/xtell_Sensor/./buffer/circle_buffer.h \
|
||||
include_lib\btstack/avctp_user.h include_lib/btstack/btstack_typedef.h \
|
||||
apps/earphone/xtell_Sensor/calculate/skiing_tracker.h \
|
||||
apps/earphone/xtell_Sensor/calculate/../xtell.h
|
||||
apps/earphone/xtell_Sensor/calculate/../xtell.h \
|
||||
apps/earphone/xtell_Sensor/./ano/ano_protocol.h
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Reference in New Issue
Block a user