蓝牙协议完成

apps/earphone/xtell_Sensor/calculate/skiing_tracker.c

@@ -1,10 +1,12 @@
 /*
-    使用四元数求角度和去掉重力分量
+        
 */
 #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)
 
 #define ENABLE_XLOG 1
 #ifdef xlog
@@ -16,13 +18,83 @@
     #define xlog(format, ...) ((void)0)
 #endif
 
+// --- 静止检测 ---
+//两个判断是否静止的必要条件：动态零速更新(ZUPT)阈值
+// 加速方差阈值，提高阈值，让“刹车”更灵敏，以便在波浪式前进等慢速漂移时也能触发零速更新
+#define STOP_ACC_VARIANCE_THRESHOLD 0.2f
+// 陀螺仪方差阈值
+#define STOP_GYR_VARIANCE_THRESHOLD 5.0f
+// 静止时候的陀螺仪模长
+#define STOP_GYR_MAG_THRESHOLD  15
+// --- --- --- 
 
-#define G_ACCELERATION 9.81f
-#define DEG_TO_RAD (3.14159265f / 180.0f)
+// --- 启动滑雪阈值 --- 
+// 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_ACC_MAG_THRESHOLD 1.0f  //0.5、1
+// 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 START_GYR_VARIANCE_THRESHOLD 15.0f
+// --- --- --- 
 
+// --- 滑雪过程 ---
+//加速度 模长(不含重力），低于此值视为 在做匀速运动
+#define SKIING_ACC_MAG_THRESHOLD 0.5f
+//陀螺仪 模长，高于此值视为 摔倒了
+#define FALLEN_GRY_MAG_THRESHOLD 2000.0f   //未确定
+// --- --- --- 
+
+// --- 原地旋转抖动 --- 
+// 加速度 方差 阈值。此值比 静止检测 阈值更宽松，
+#define WOBBLE_ACC_VARIANCE_THRESHOLD 0.5f
+// 加速度 模长 阈值
+#define WOBBLE_ACC_MAG_THRESHOLD 1.0f
+// 角速度 总模长 大于此值(度/秒)，认为正在进行非滑雪的旋转或摆动
+#define ROTATION_GYR_MAG_THRESHOLD 30.0f  
+// --- --- --- 
+
+// --- 滑雪转弯动 --- 
+// 加速度 方差 阈值，大于此值，滑雪过程可能发生了急转弯
+#define WHEEL_ACC_VARIANCE_THRESHOLD 7.0f  
+// 角速度 总模长 大于此值(度/秒)，认为滑雪过程中进行急转弯
+#define WHEEL_GYR_MAG_THRESHOLD 500.0f   // 
+// --- --- --- 
+
+// --- 跳跃 --- 
+// 加速度模长低于此值(g)，认为进入失重状态(IN_AIR)
+#define AIRBORNE_ACC_MAG_LOW_THRESHOLD 0.4f
+// 加速度模长高于此值(g)，认为发生落地冲击(LANDING)
+#define LANDING_ACC_MAG_HIGH_THRESHOLD 3.5f
+// 起跳加速度阈值(g)，用于进入TAKING_OFF状态
+#define TAKEOFF_ACC_MAG_HIGH_THRESHOLD 1.8f
+// 进入空中状态确认计数：需要连续3个采样点加速度低于阈值才判断为起跳
+#define AIRBORNE_CONFIRM_COUNT 3
+// 落地状态确认计数：加速度恢复到1g附近并持续2个采样点(20ms)则认为已落地
+#define GROUNDED_CONFIRM_COUNT 2
+// 最大滞空时间(秒)，超过此时间强制认为已落地，防止状态锁死
+#define MAX_TIME_IN_AIR 12.5f 
+// --- --- --- 
+
+// --- 用于消除积分漂移的滤波器和阈值 ---
+// 高通滤波器系数 (alpha)。alpha 越接近1，滤除低频(直流偏移)的效果越强，但可能滤掉真实的慢速运动。
+// alpha = RC / (RC + dt)，参考RC电路而来，fc ≈ (1 - alpha) / (2 * π * dt)
+#define HPF_ALPHA 0.999f  
+//0.995f： 0.08 Hz 的信号
+//0.999f： 0.0159 Hz 
+// --- --- --- 
+
+// --- 低通滤波器 ---
+// 低通滤波器系数 (alpha)。alpha 越小，滤波效果越强（更平滑），但延迟越大。
+// alpha 推荐范围 0.7 ~ 0.95。可以从 0.85 开始尝试。
+#define LPF_ALPHA 0.7f
+
+// 加速度死区阈值 (m/s^2)。低于此阈值的加速度被认为是噪声，不参与积分。
+// 设得太高会忽略真实的慢速启动，设得太低则无法有效抑制噪声。
+//参考：0.2f ~ 0.4f
+#define ACC_DEAD_ZONE_THRESHOLD 0.05f   
+
+// --- 模拟摩擦力，进行速度衰减 ---
+#define SPEED_ATTENUATION 1.0f  //暂不模拟  
 BLE_KS_send_data_t KS_data;
 static float quaternion_data[4];
-
 #ifdef XTELL_TEST
 
 debug_t debug1;
@@ -53,7 +125,7 @@ void stop_detection(void){
 }
 
 /**
- * @brief  初始化
+ * @brief  初始化滑雪追踪器
  * 
  * @param tracker 
  */
@@ -67,6 +139,18 @@ void skiing_tracker_init(skiing_tracker_t *tracker)
     tracker->state = STATIC;
 }
 
+/**
+ * @brief 当检测到落地时，计算空中的水平飞行距离并累加到总距离
+ */
+static void calculate_air_distance(skiing_tracker_t *tracker) {
+    float horizontal_speed_on_takeoff = sqrtf(
+        tracker->initial_velocity_on_takeoff[0] * tracker->initial_velocity_on_takeoff[0] +
+        tracker->initial_velocity_on_takeoff[1] * tracker->initial_velocity_on_takeoff[1]
+    );
+    float distance_in_air = horizontal_speed_on_takeoff * tracker->time_in_air;
+    tracker->distance += distance_in_air;
+}
+
 
 
 /**
@@ -93,7 +177,7 @@ void q_remove_gravity_with_quaternion(const float *acc_device, const float *q, f
 }
 
 /**
- * @brief 使用四元数将设备坐标系的线性加速度转换到世界坐标系,并且移除重力分量
+ * @brief 使用四元数将设备坐标系的线性加速度转换到世界坐标系
  * @details 同样，此方法比使用欧拉角更优。
  * @param acc_linear_device 输入：设备坐标系下的线性加速度 [x, y, z]
  * @param q                 输入：表示姿态的四元数 [w, x, y, z]
@@ -117,6 +201,208 @@ void q_transform_to_world_with_quaternion(const float *acc_linear_device, const
 }
 
 
+
+/**
+ * @brief 计算缓冲区内三轴数据的方差之和
+ * 
+ * @param buffer 传进来的三轴数据：陀螺仪/加速度
+ * @return float 返回方差和
+ */
+static float calculate_variance(float buffer[VARIANCE_BUFFER_SIZE][3])
+{
+    float mean[3] = {0};
+    float variance[3] = {0};
+
+    // 计算均值
+    for (int i = 0; i < VARIANCE_BUFFER_SIZE; i++) {
+        mean[0] += buffer[i][0];
+        mean[1] += buffer[i][1];
+        mean[2] += buffer[i][2];
+    }
+    mean[0] /= VARIANCE_BUFFER_SIZE;
+    mean[1] /= VARIANCE_BUFFER_SIZE;
+    mean[2] /= VARIANCE_BUFFER_SIZE;
+
+    // 计算方差
+    for (int i = 0; i < VARIANCE_BUFFER_SIZE; i++) {
+        variance[0] += (buffer[i][0] - mean[0]) * (buffer[i][0] - mean[0]);
+        variance[1] += (buffer[i][1] - mean[1]) * (buffer[i][1] - mean[1]);
+        variance[2] += (buffer[i][2] - mean[2]) * (buffer[i][2] - mean[2]);
+    }
+    variance[0] /= VARIANCE_BUFFER_SIZE;
+    variance[1] /= VARIANCE_BUFFER_SIZE;
+    variance[2] /= VARIANCE_BUFFER_SIZE;
+
+    // 返回三轴方差之和，作为一个综合的稳定度指标
+    return variance[0] + variance[1] + variance[2];
+}
+
+/**
+ * @brief 摩擦力模拟，进行速度衰减
+ * 
+ * @param tracker 
+ */
+void forece_of_friction(skiing_tracker_t *tracker){
+    // 增加速度衰减，模拟摩擦力
+    tracker->velocity[0] *= SPEED_ATTENUATION;
+    tracker->velocity[1] *= SPEED_ATTENUATION;
+    tracker->velocity[2] = 0; // 垂直速度强制归零
+}
+
+/**
+ * @brief 状态机更新
+ * 
+ * @param tracker 传入同步修改后传出
+ * @param acc_device_ms2 三轴加速度，m/s^2
+ * @param gyr_dps 三轴陀螺仪，dps
+ */
+static void update_state_machine(skiing_tracker_t *tracker, const float *acc_device_ms2, const float *gyr_dps)
+{
+    // 缓冲区未填满时，不进行状态判断，默认为静止
+    if (!tracker->buffer_filled) {
+        tracker->state = STATIC;
+        return;
+    }
+
+    // --- 计算关键指标 ---
+    float acc_variance = calculate_variance(tracker->acc_buffer); // 计算加速度方差
+    float gyr_variance = calculate_variance(tracker->gyr_buffer); // 计算陀螺仪方差
+    float gyr_magnitude = sqrtf(gyr_dps[0]*gyr_dps[0] + gyr_dps[1]*gyr_dps[1] + gyr_dps[2]*gyr_dps[2]);  //dps
+    float acc_magnitude = sqrtf(acc_device_ms2[0]*acc_device_ms2[0] + acc_device_ms2[1]*acc_device_ms2[1] + acc_device_ms2[2]*acc_device_ms2[2]);  //m/s^s
+    float acc_magnitude_g = acc_magnitude / G_ACCELERATION; // 转换为g单位，用于跳跃判断
+
+    #ifdef XTELL_TEST
+    debug1.acc_variance =acc_variance;
+    debug1.gyr_variance =gyr_variance;
+    debug1.gyr_magnitude=gyr_magnitude;
+    debug1.acc_magnitude=fabsf(acc_magnitude - G_ACCELERATION);
+    #endif
+
+
+
+   // --- 状态机逻辑 (核心修改区域) ---
+
+   #if 0  //暂时不考虑空中
+    // 1. 空中/落地状态的后续处理
+    if (tracker->state == IN_AIR) {
+        // A. 检测巨大冲击 -> 落地
+        if (acc_magnitude_g > LANDING_ACC_MAG_HIGH_THRESHOLD) {
+            tracker->state = LANDING;
+        // B. 检测超时 -> 强制落地 (安全机制)
+        } else if (tracker->time_in_air > MAX_TIME_IN_AIR) {
+            tracker->state = LANDING; 
+        // C. 检测恢复正常重力 (平缓落地)
+        } else if (acc_magnitude_g > 0.8f && acc_magnitude_g < 1.5f) {
+            tracker->grounded_entry_counter++;
+            if (tracker->grounded_entry_counter >= GROUNDED_CONFIRM_COUNT) {
+                tracker->state = LANDING;
+            }
+        } else {
+            tracker->grounded_entry_counter = 0;
+        }
+        return; // 在空中或刚切换到落地，结束本次状态判断
+    }
+
+    // 2. 严格的 "起跳->空中" 状态转换逻辑
+    // 只有当处于滑行状态时，才去检测起跳意图
+    if (tracker->state == NO_CONSTANT_SPEED || tracker->state == CONSTANT_SPEED || tracker->state == WHEEL) {
+        if (acc_magnitude_g > TAKEOFF_ACC_MAG_HIGH_THRESHOLD) {
+            tracker->state = TAKING_OFF;
+            tracker->airborne_entry_counter = 0; // 准备检测失重
+            return;
+        }
+    }
+    // 只有在TAKING_OFF状态下，才去检测是否进入失重
+    if (tracker->state == TAKING_OFF) {
+        if (acc_magnitude_g < AIRBORNE_ACC_MAG_LOW_THRESHOLD) {
+            tracker->airborne_entry_counter++;
+            if (tracker->airborne_entry_counter >= AIRBORNE_CONFIRM_COUNT) {
+                memcpy(tracker->initial_velocity_on_takeoff, tracker->velocity, sizeof(tracker->velocity));
+                tracker->time_in_air = 0;
+                tracker->state = IN_AIR;
+                tracker->airborne_entry_counter = 0;
+                tracker->grounded_entry_counter = 0;
+                return;
+            }
+        } else {
+            // 如果在起跳冲击后一段时间内没有失重，说明只是一个颠簸，恢复滑行
+            // 可以加一个小的超时计数器，这里为了简单先直接恢复
+            tracker->state = NO_CONSTANT_SPEED;
+        }
+        return; // 无论是否切换，都结束本次判断
+    }
+    #endif
+
+    
+    // --- 静止判断 ---
+    if (acc_variance < STOP_ACC_VARIANCE_THRESHOLD && gyr_variance < STOP_GYR_VARIANCE_THRESHOLD && gyr_magnitude < STOP_GYR_MAG_THRESHOLD) {
+        tracker->state = STATIC;
+        return;
+    }
+
+    // --- 地面状态切换逻辑 ---
+    switch (tracker->state) {
+        case LANDING: 
+            tracker->state = STATIC;
+            break;
+        case STATIC:
+            // 优先判断是否进入 WOBBLE 状态
+            // 条件：陀螺仪活动剧烈，但整体加速度变化不大（说明是原地转或晃）
+            if (gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && fabsf(acc_magnitude - G_ACCELERATION) < WOBBLE_ACC_MAG_THRESHOLD) {
+                tracker->state = WOBBLE;
+            } 
+            // 只有在陀螺仪和加速度都满足“前进”特征时，才启动
+            else if (gyr_variance > START_GYR_VARIANCE_THRESHOLD && fabsf(acc_magnitude - G_ACCELERATION) > START_ACC_MAG_THRESHOLD) {
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            break;
+
+        case WOBBLE:
+            // 从 WOBBLE 状态启动的条件应该和从 STATIC 启动一样严格
+            if (gyr_variance < START_GYR_VARIANCE_THRESHOLD * 2 && fabsf(acc_magnitude - G_ACCELERATION) > START_ACC_MAG_THRESHOLD) {
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            // 如果陀螺仪活动减弱，则可能恢复静止
+            else if (gyr_magnitude < ROTATION_GYR_MAG_THRESHOLD * 0.8f) { // 增加迟滞，避免抖动
+                // 不直接跳回STATIC，而是依赖下一轮的全局静止判断
+            }
+            break;
+        case NO_CONSTANT_SPEED:  //非匀速状态
+            //暂时不考虑摔倒
+            // if (gyr_magnitude > FALLEN_GRY_MAG_THRESHOLD) {
+            //     tracker->state = FALLEN;  //摔倒
+            // } else 
+            if (gyr_magnitude > WHEEL_GYR_MAG_THRESHOLD && acc_variance > WHEEL_ACC_VARIANCE_THRESHOLD) {
+                tracker->state = WHEEL;  //转弯
+            } else if (fabsf(acc_magnitude - G_ACCELERATION) < SKIING_ACC_MAG_THRESHOLD) {
+                tracker->state = CONSTANT_SPEED;  //匀速
+            }
+            break;
+
+        case CONSTANT_SPEED:  //匀速状态
+            if (fabsf(acc_magnitude - G_ACCELERATION) > START_ACC_MAG_THRESHOLD) { 
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            //TODO：可以添加进入转弯或摔倒的判断
+            break;
+
+        case WHEEL:
+            // 从转弯状态，检查转弯是否结束
+            // 如果角速度和加速度方差都降下来了，就回到普通滑行状态
+            if (gyr_magnitude < WHEEL_GYR_MAG_THRESHOLD * 0.8f && acc_variance < WHEEL_ACC_VARIANCE_THRESHOLD * 0.8f) { // 乘以一个滞后系数避免抖动
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            break;
+
+        case FALLEN:
+            // TODO：回到 STATIC
+            break;
+    }
+
+
+}
+
+
 /**
  * @brief 主更新函数
  * 
@@ -140,46 +426,139 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
     acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
     acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;
 
-    #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];
+    // 将最新数据存入缓冲区
+    memcpy(tracker->acc_buffer[tracker->buffer_index], acc_device_ms2, sizeof(acc_device_ms2));
+    memcpy(tracker->gyr_buffer[tracker->buffer_index], gyr_dps, 3 * sizeof(float));
+    
+    tracker->buffer_index++;
+    if (tracker->buffer_index >= VARIANCE_BUFFER_SIZE) {
+        tracker->buffer_index = 0;
+        tracker->buffer_filled = 1; // 标记缓冲区已满
+    }
+
+    // --- 更新状态机 ---
+    update_state_machine(tracker, acc_device_ms2, gyr_dps);
+
+    // --- 根据状态执行不同的计算逻辑 ---
+    switch (tracker->state) {
+        case TAKING_OFF:
+            tracker->speed = 0.0f;
+            break;
+        case IN_AIR:
+            // 在空中时，只累加滞空时间
+            tracker->time_in_air += dt;
+            break;
+        case LANDING:
+            // 刚落地，计算空中距离
+            calculate_air_distance(tracker);
+            // 清理速度和滤波器状态，为恢复地面追踪做准备
+            memset(tracker->velocity, 0, sizeof(tracker->velocity));
+            tracker->speed = 0;
+            memset(tracker->acc_world_unfiltered_prev, 0, sizeof(tracker->acc_world_unfiltered_prev));
+            memset(tracker->acc_world_filtered, 0, sizeof(tracker->acc_world_filtered));
+            memset(tracker->acc_world_lpf, 0, sizeof(tracker->acc_world_lpf)); // 清理新增的LPF状态
+            break;
+        case WHEEL:
+        case NO_CONSTANT_SPEED:
+            float linear_acc_device[3];
+            float linear_acc_world[3];
+            // 在设备坐标系下，移除重力，得到线性加速度
+            q_remove_gravity_with_quaternion(acc_device_ms2, quaternion_data, linear_acc_device);
+
+            // 将设备坐标系下的线性加速度，旋转到世界坐标系
+            q_transform_to_world_with_quaternion(linear_acc_device, quaternion_data, linear_acc_world);
+             // 将最终用于积分的加速度存入 tracker 结构体
+            memcpy(tracker->acc_no_g, linear_acc_world, sizeof(linear_acc_world));
+
+            float acc_world_temp[3]; // 临时变量存储当前周期的加速度
+            for (int i = 0; i < 2; i++) { // 只处理水平方向的 x 和 y 轴
+
+                // --- 核心修改：颠倒滤波器顺序为 HPF -> LPF ---
+
+                // 1. 高通滤波 (HPF) 先行: 消除因姿态误差导致的重力泄漏（直流偏置）
+                //    HPF的瞬态响应会产生尖峰，这是正常的。
+                tracker->acc_world_filtered[i] = HPF_ALPHA * (tracker->acc_world_filtered[i] + tracker->acc_no_g[i] - tracker->acc_world_unfiltered_prev[i]);
+                tracker->acc_world_unfiltered_prev[i] = tracker->acc_no_g[i];
+
+                // 2. 低通滤波 (LPF) 殿后: 平滑掉HPF产生的尖峰和传感器自身的高频振动噪声。
+                //    这里使用 tracker->acc_world_filtered[i] 作为LPF的输入。
+                tracker->acc_world_lpf[i] = (1.0f - LPF_ALPHA) * tracker->acc_world_filtered[i] + LPF_ALPHA * tracker->acc_world_lpf[i];
+                
+                // 将最终处理完的加速度值存入临时变量
+                acc_world_temp[i] = tracker->acc_world_lpf[i];
+            }
+
+            // 计算处理后加速度的水平模长
+            float acc_horizontal_mag = sqrtf(acc_world_temp[0] * acc_world_temp[0] +
+                                                acc_world_temp[1] * acc_world_temp[1]);
+            #if XTELL_TEST
+            debug2.acc_magnitude = acc_horizontal_mag;
+            #endif
+            // 应用死区，并积分
+            if (acc_horizontal_mag > ACC_DEAD_ZONE_THRESHOLD) {
+                tracker->velocity[0] += acc_world_temp[0] * dt;
+                tracker->velocity[1] += acc_world_temp[1] * dt;
+            }
+
+            // 更新速度和距离
+            tracker->speed = sqrtf(tracker->velocity[0] * tracker->velocity[0] +
+                                tracker->velocity[1] * tracker->velocity[1]);
+            tracker->distance += tracker->speed * dt;
+            break;
+        case CONSTANT_SPEED:
+            //保持上次的速度不变。只更新距离
+            tracker->distance += tracker->speed * dt;
+            break;
+        case STATIC:
+        case WOBBLE:
+            // 速度清零，抑制漂移
+            memset(tracker->velocity, 0, sizeof(tracker->velocity));
+            tracker->speed = 0.0f;
+            memset(tracker->acc_world_unfiltered_prev, 0, sizeof(tracker->acc_world_unfiltered_prev));
+            memset(tracker->acc_world_filtered, 0, sizeof(tracker->acc_world_filtered));
+            memset(tracker->acc_world_lpf, 0, sizeof(tracker->acc_world_lpf)); // 清理新增的LPF状态
+            #if XTELL_TEST
+            debug2.acc_magnitude = 0;
+            #endif
+            break;   
+        case FALLEN:
+            // TODO
+            break;
+        default:
+            break;
+    }
+
+
+   
+
+    #if 1
+    float linear_acc_device[3];
+    float linear_acc_world[3];
     float tmp_world_acc[3];
-    // remove_gravity_in_device_frame(acc_device_ms2,angle,tmp_device_acc);
-    // transform_acc_to_world_frame(acc_device_ms2,angle,tmp_world_acc);
+    // 在设备坐标系下，移除重力，得到线性加速度
+    q_remove_gravity_with_quaternion(acc_device_ms2, quaternion_data, linear_acc_device);
 
-    q_remove_gravity_with_quaternion(acc_device_ms2,quaternion_data,tmp_device_acc);
-    q_transform_to_world_with_quaternion(tmp_device_acc,quaternion_data,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]);
+    // 将设备坐标系下的线性加速度，旋转到世界坐标系
+    q_transform_to_world_with_quaternion(linear_acc_device, quaternion_data, tmp_world_acc);
 
+    
     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]);
-
-    float gx_proj = 2.0f * (quaternion_data[1] * quaternion_data[3] - quaternion_data[0] * quaternion_data[2]);
-    float gy_proj = 2.0f * (quaternion_data[0] * quaternion_data[1] + quaternion_data[2] * quaternion_data[3]);
-    float gz_proj = quaternion_data[0] * quaternion_data[0] - quaternion_data[1] * quaternion_data[1] - quaternion_data[2] * quaternion_data[2] + quaternion_data[3] * quaternion_data[3];
-
- 
+    
     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); 
-        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],all_world_mag); 
-        xlog("===gyr(dps) : x %.2f, y %.2f, z %.2f, all %.2f===\n",gyr_dps[0],gyr_dps[1],gyr_dps[2]);   //angle
+        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],all_world_mag);  //去掉重力加速度
+        xlog("===gyr(dps) : x %.2f, y %.2f, z %.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]);
-        xlog("GRAVITY VECTOR in device frame: gx=%.2f, gy=%.2f, gz=%.2f\n", gx_proj, gy_proj, gz_proj);
-        extern mmc5603nj_cal_data_t cal_data; 
-        xlog("cal_data:X: %.4f, Y: %.4f, Z: %.4f\n", cal_data.offset_x,cal_data.offset_y,cal_data.offset_z);
         count = 0;
         
     }
     count++;
-    
     #endif
 
+
 }
 
 
@@ -190,13 +569,14 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
  * @param acc_data_buf 传入的三轴加速度数据
  * @param gyr_data_buf 传入的三轴陀螺仪数据
  * @param angle_data   传入的欧若拉角数据
- * @return BLE_send_data_t 要发送给蓝牙的数据
+ * @return 速度cm/s
  */
-BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion) {
+uint16_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion) {
     
     static int initialized = 0;
     static float acc_data_g[3];
     static float gyr_data_dps[3];
+
     if(quaternion != NULL){
         memcpy(quaternion_data, quaternion,  4 * sizeof(float));
     }
@@ -204,7 +584,6 @@ BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short*
     // 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) {
         skiing_tracker_init(&my_skiing_tracker);
@@ -249,22 +628,7 @@ BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short*
 
     skiing_tracker_update(&my_skiing_tracker, acc_data_g, gyr_data_dps, angle_data, delta_time);
 
-    // BLE_send_data.skiing_state = my_skiing_tracker.state;
-    // for (int i = 0; i < 3; i++) {
-    //     #ifdef XTELL_TEST
-    //     BLE_send_data.acc_data[i] = (short)(acc_data_g[i] * 9.8f) * 100; //cm/^s2
-    //     BLE_send_data.gyr_data[i] = (short)gyr_data_dps[i];  //dps
-    //     BLE_send_data.angle_data[i] = angle_data[i];
-    //     #else
-    //     BLE_send_data.acc_data[i] = (short)acc_data_buf[i];   //原始adc数据
-    //     BLE_send_data.gyr_data[i] = (short)gyr_data_buf[i];   //原始adc数据
-    //     BLE_send_data.angle_data[i] = angle_data[i];
-    //     #endif
-    // }
-    // BLE_send_data.speed_cms = (int)(my_skiing_tracker.speed * 100);
-    // BLE_send_data.distance_cm = (int)(my_skiing_tracker.distance * 100);
-    // // printf("Calculate the time interval =============== end\n");
     
-    return BLE_send_data;
+    return (uint16_t)(my_skiing_tracker.speed * 100);
 }
 

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
@@ -30,7 +34,7 @@ typedef struct {
     skiing_state_t state;       // 当前滑雪状态
 
     // 内部计算使用的私有成员
-    float acc_world[3];         // 在世界坐标系下的加速度
+    float acc_no_g[3];         // 去掉重力分量后的加速度
 
     // 用于空中距离计算
     float time_in_air;                     // 滞空时间计时器
@@ -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）
@@ -84,5 +79,5 @@ typedef struct{
  */
 void skiing_tracker_init(skiing_tracker_t *tracker);
 
-BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion);
+uint16_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion);
 #endif // SKIING_TRACKER_H

apps/earphone/xtell_Sensor/send_data.c

@@ -35,6 +35,9 @@
 #else
     #define xlog(format, ...) ((void)0)
 #endif
+
+#define SENSOR_DATA_BUFFER_SIZE 500 // 定义缓冲区可以存储XXX个sensor_data_t元素
+
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -42,6 +45,7 @@
 //START -- 函数定义
 void send_data_to_ble_client(const u8* data, u16 length);
 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);
 //END -- 函数定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -49,489 +53,234 @@ extern void create_process(u16* pid, const char* name, void *priv, void (*func)(
 //////////////////////////////////////////////////////////////////////////////////////////////////
 //START -- 变量定义
 
-// --- 任务ID ---
-static u16 xtell_i2c_test_id;
-static u16 collect_data_id;
-static u16 ble_send_data_id;
-static u16 sensor_read_data_id;
-static u16 calculate_data_id;
 
-// --- 环形缓冲区 ---
-#define SENSOR_DATA_BUFFER_SIZE 512
-static u8 sensor_data_buffer[SENSOR_DATA_BUFFER_SIZE];
-static circle_buffer_t sensor_cb;
+typedef struct {
+    // -- 六轴 -- 
+    signed short SC7U22_data[6];
+    // -- 磁力计 --
+    uint8_t mmc5603nj_buffer[9];
+    // -- 速度 --
+    uint16_t speed_cms;
+    // -- 气压计 --
+    int adc_P; 
+    int adc_T; 
+} BLE_send_data_t;
 
 static int count = 0;
 
-//--- test ---
-// 全局变量
-u16 gsensor_id=0;
-u16 test_id=0;
+// --- 环形缓冲区 ---
+static circle_buffer_t BLE_send_buff; // 环形缓冲区管理结构体
+BLE_send_data_t BLE_send_data[SENSOR_DATA_BUFFER_SIZE];
+
 //END -- 变量定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
-
-
-
-
-
-
-
-#if 0
-BLE_send_data_t BLE_send_data;
-void test(){
-    signed short acc_data_buf[3] = {0};
-    signed short gyr_data_buf[3] = {0};
-    signed short acc_gyro_input[6] = {0};
-    float Angle_output[3] = {0};
-    // xlog("============start\n");
-
-    SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
-
-    BLE_send_data = sensor_processing_task(acc_data_buf, gyr_data_buf);
-    u8 data[50];
-    data[0] = 0xBB;
-    data[1] = 0xBE;
-    data[2] = 0x01;
-    data[3] = sizeof(BLE_send_data_t); //后续包的数据长度
-    // send_data_to_ble_client(&data,sizeof(BLE_send_data_t)+4);
-    memcpy(&data[4], &BLE_send_data, sizeof(BLE_send_data_t));
-
-    static int count = 0;
-    if(count >=10){ 
-        count = 0;
-        
-        char* division = "==========\n";
-        send_data_to_ble_client(division,strlen(division));
-
-        char log_buffer[100]; // 100个字符应该足够了
-
-        // 使用 snprintf 进行格式化
-        int num_chars_written = snprintf(
-            log_buffer,                      // 目标缓冲区
-            sizeof(log_buffer),              // 目标缓冲区的最大容量
-            "s %d, %dcm/s, %dcm\n", // 格式化字符串
-            BLE_send_data.skiing_state,      // 第一个 %d 的参数
-            BLE_send_data.speed_cms,         // 第二个 %d 的参数
-            BLE_send_data.distance_cm        // 第三个 %d 的参数
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        extern BLE_KS_send_data_t KS_data;
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Acc:%d, %d, %d\n", 
-            KS_data.acc_KS[0],KS_data.acc_KS[1],KS_data.acc_KS[2]       
-        );  // cm/s^2      
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Gyr_dps:%d, %d, %d\n", 
-            KS_data.gyr_KS_dps[0],      
-            KS_data.gyr_KS_dps[1],      
-            KS_data.gyr_KS_dps[2]       
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "angle: %d, %d, %d\n", 
-            KS_data.angle_KS[0],      
-            KS_data.angle_KS[1],      
-            KS_data.angle_KS[2]       
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        extern debug_t debug1;
-        extern debug_t debug2;
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "debug:%.2f,%.2f,%.2f(%.2f),%.2f\n", 
-            debug1.acc_variance, 
-            debug1.gyr_variance, 
-            debug1.acc_magnitude,
-            debug2.acc_magnitude,   //滤波后的加速度
-            debug1.gyr_magnitude  
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-        
-    xlog("Call interval\n");
-    }
-    count++;
-
-    memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
-    memset(&data, 0, 50);
-    // xlog("end============\n");
-
-}
-#endif
-
-
-
-#define SENSOR_DATA_BUFFER_SIZE 500 // 定义缓冲区可以存储100个sensor_data_t元素
-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];  //pitch roll yaw
-    float quaternion_output[4];  //四元数数据
-} 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;
-static int count_test1 = 0;
-static int count_test2 = 0;
 /**
- * @brief //读取传感器的数据放进缓冲区
+ * @brief 六轴静态校准
  * 
  */
-void sensor_read_data(){
-    
-    // xlog("=======sensor_read_data START\n");
+void SC7U22_static_calibration(void){
+    signed short acc_data_buf[3];
+    signed short gyr_data_buf[3];
+    float angle[3];
+    float quaternion_output[3];
+
     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 first_set_flag = 0;
+    if(first_set_flag == 0){
+        first_set_flag = 1;
+        set_SC7U22_Error_Flag(0);
     }
-    
-    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));
+    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));
+    status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, angle,NULL, 0, quaternion_output);
 
-    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);
-
-        status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle,NULL, 0, tmp.quaternion_output);
-
-        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;
-            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);
-        status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle,NULL, 0, tmp.quaternion_output);
-
-        memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
-        memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
-        if(mutex1 == 0){
-            mutex1 = 1;
-            // count_test1++;
-            // xlog("count_test_1: %d\n",count_test1);
-            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);    
+    if(status == 1){ //校准完成
+        extern u16 SC7U22_calibration_id;
+        extern u8 SC7U22_init;
+        first_set_flag = 0;
+        SC7U22_init = 0x11;
+        close_process(&SC7U22_calibration_id, "SC7U22_calibration");
+        u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00};
+        send2_1[4] = SC7U22_init;
+        send_data_to_ble_client(&send2_1,5);
     }
-    // xlog("=======sensor_read_data END\n");
-
-}
-
-void calculate_data(){
-    // xlog("=======start\n");
-    sensor_data_t tmp;
-
-    if(circle_buffer_is_empty(&sensor_read)){
-        // xlog("sensor_read_buffer: read buffer empty\n");
-        return;
-    }
-
-    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,tmp.quaternion_output);
-
-    
-
-    if(circle_buffer_is_full(&sensor_send))
-        return;
-    
-    if(mutex2 == 0){
-        mutex2 = 1;
-        circle_buffer_write(&sensor_send, &data_by_calculate);
-        mutex2 = 0;
-    }
-    
-
-    // extern void BLE_send_data();
-    // BLE_send_data();
-    // xlog("=======end\n");
-}
-
-extern char xt_Check_Flag;
-void BLE_send_data(){
-    //  xlog("=======start\n");
-    if(circle_buffer_is_empty(&sensor_send)){
-        // xlog("sensor_send_buffer: send buffer empty\n");
-        return;
-    }
-    #ifdef XTELL_TEST
-    // #if 0
-    BLE_send_data_t tmp;
-    if(mutex2 == 0){
-        mutex2 = 1;
-        circle_buffer_read(&sensor_send, &tmp);
-        mutex2 = 0;
-    }else{
-        return;
-    }
-    
-    
-    if(count >=100){ 
-        // extern debug_t debug2;
-        // xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
-        // xlog("Acc:%d, %d, %d\n",tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);   
-        // xlog("Gyr:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);  
-        // xlog("debug2.acc_magnitude:%.2f\n", debug2.acc_magnitude);  
-
-        int num_chars_written;
+    if(count > 100){
         count = 0;
-        char* division = "==========\n";
-        send_data_to_ble_client(division,strlen(division));
-        char log_buffer[100]; // 100个字符应该足够了
-
-        
-        // extern char iic_read_len;
-        // extern char iic_write_result;
-        // 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);  
+        char log_buffer[100]; 
+        // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);  
         // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        #if 1
-        // 使用 snprintf 进行格式化
-        num_chars_written = snprintf(
-            log_buffer,                      // 目标缓冲区
-            sizeof(log_buffer),              // 目标缓冲区的最大容量
-            "s %d, %dcm/s, %dcm\n", // 格式化字符串
-            tmp.skiing_state,      // 第一个 %d 的参数
-            tmp.speed_cms,         // 第二个 %d 的参数
-            tmp.distance_cm        // 第三个 %d 的参数
-        );
-        send_data_to_ble_client(&log_buffer, strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Acc:%d, %d, %d\n", 
-            tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]       
-        );      
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Gyr:%d, %d, %d\n", 
-            tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]       
-        );  
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Angle:%.1f, %.1f, %1.f\n", 
-            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(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "acc_cm/s^2:%d\n", 
-            acc_mo_cms       
-        );  
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        // xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
-        // xlog("Acc:%d, %d, %d\n", tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);
-        // xlog("GYR:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);
+        xlog("status:%d\n", status);
+            xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",combined_raw_data[0],combined_raw_data[1],combined_raw_data[2],combined_raw_data[3],combined_raw_data[4],combined_raw_data[5]);
     }
     count++;
-    // xlog("=======end\n");
-    #else
-    #endif
 }
 
-//iic测试调用的
-#if 0
-
-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
-
-#if 0
-u16 xt_iic_test_id;
-char hw_iic_init_result;
-void xt_hw_iic_test(){
-    char log_buffer[100]; 
-    extern char iic_read_len;
-    extern char iic_write_result;
-
-    int num_chars_written = snprintf(log_buffer, sizeof(log_buffer),"init result:%d, SL_SC7U22_Check=0x%d,%d,%d\n",hw_iic_init_result, 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));
-}
-#endif
-
-void sensor_measure(void){
+/**
+ * @brief 开始采集传感器数据和计算速度
+ * 
+ */
+void start_collect_fuc(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;
-    
-    
-    static sensor_data_t tmp;
-    mmc5603nj_mag_data_t mag_data;
-    SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data);
-    // os_time_dly(1);
-    mmc5603nj_read_mag_data(&mag_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));
+    BLE_send_data_t BLE_send_data_tmp;
+    uint8_t mmc5603nj_buffer[9];
+    signed short acc_data_buf[3];
+    signed short gyr_data_buf[3];
+    float angle[3];
+    float quaternion_output[3];
 
-    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);
-        status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle,&mag_data, 0, tmp.quaternion_output);
+    // -- 读数据 --
+    SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
+    mmc5603nj_read_origin_data(mmc5603nj_buffer);
+    bmp280_read_originanl_data(&BLE_send_data_tmp.adc_P, &BLE_send_data_tmp.adc_T);
 
-        if(count > 100){
-            count = 0;
-            char log_buffer[100]; 
-            // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);  
-            // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-            xlog("status:%d\n", status);
-             xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",combined_raw_data[0],combined_raw_data[1],combined_raw_data[2],combined_raw_data[3],combined_raw_data[4],combined_raw_data[5]);
-        }
-        count++;
-        
-        if (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);
-        status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle,&mag_data, 0, tmp.quaternion_output);
-        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, tmp.quaternion_output);
-        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);   
+    memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
+    memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
+
+    // -- 四元数 --
+    status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
+
+    // -- 速度计算 --
+    memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
+    memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
+    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.SC7U22_data[0], acc_data_buf, 3 * sizeof(signed short));
+    memcpy(&BLE_send_data_tmp.SC7U22_data[3], gyr_data_buf, 3 * sizeof(signed short));
+    memcpy(BLE_send_data_tmp.mmc5603nj_buffer, mmc5603nj_buffer, 9);
+    BLE_send_data_tmp.speed_cms = speed;
+
+    // -- 放进缓冲区 --
+    if(circle_buffer_is_full(&BLE_send_buff) == 0){
+        circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
     }
-
-    // mmc5603nj_mag_data_t mag_data;
-    // mmc5603nj_read_mag_data(&mag_data);
-    // float temperature =  mmc5603nj_get_temperature();
-    // count_test1++;
-    // if(count_test1 >500){
-    //     count_test1 =0;
-    // xlog("Mag X: %.4f, Y: %.4f, Z: %.4f Gauss\n", mag_data.x, mag_data.y, mag_data.z);
-    // }    
     
-    // xlog("=======sensor_read_data END\n");
+
 }
 
+/**
+ * @brief ble数据发送函数
+ * 
+ */
+void BLE_send_fuc(void){
+    BLE_send_data_t data_to_send;
 
+    if (circle_buffer_is_empty(&BLE_send_buff) == 0) {
+        circle_buffer_read(&BLE_send_buff, &data_to_send);
+    } else {
+        // 缓冲区为空，直接返回
+        return;
+    }
+
+    // ---  封装并发送六轴传感器数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(12) = 16字节
+        const uint8_t IMU_PACKET_LEN = 16;
+        const uint8_t IMU_PAYLOAD_LEN = 13; // 类型(1) + 数据(12)
+        const uint8_t IMU_TYPE = 0x01;
+        
+        uint8_t imu_packet[IMU_PACKET_LEN];
+
+        // 填充包头
+        imu_packet[0] = 0xBB;
+        imu_packet[1] = 0xBE;
+        imu_packet[2] = IMU_PAYLOAD_LEN;
+        imu_packet[3] = IMU_TYPE;
+        // 拷贝六轴数据
+        memcpy(&imu_packet[4], data_to_send.SC7U22_data, sizeof(data_to_send.SC7U22_data));
+        
+        send_data_to_ble_client(&imu_packet, IMU_PACKET_LEN);
+    }
+    
+    // --- 封装并发送磁力计数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(9) = 13字节
+        const uint8_t MAG_PACKET_LEN = 13;
+        const uint8_t MAG_PAYLOAD_LEN = 10; // 类型(1) + 数据(9)
+        const uint8_t MAG_TYPE = 0x02;
+
+        uint8_t mag_packet[MAG_PACKET_LEN];
+
+        // 填充包头
+        mag_packet[0] = 0xBB;
+        mag_packet[1] = 0xBE;
+        mag_packet[2] = MAG_PAYLOAD_LEN;
+        mag_packet[3] = MAG_TYPE;
+        // 拷贝磁力计数据
+        memcpy(&mag_packet[4], data_to_send.mmc5603nj_buffer, sizeof(data_to_send.mmc5603nj_buffer));
+
+        send_data_to_ble_client(&mag_packet, MAG_PACKET_LEN);
+    }
+
+    // --- 封装并发送压力机计数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(8) = 12字节
+        const uint8_t PT_PACKET_LEN = 12;
+        const uint8_t PT_PAYLOAD_LEN = 9; // 类型(1) + 数据(8)
+        const uint8_t PT_TYPE = 0x03;
+
+        uint8_t pt_packet[PT_PACKET_LEN];
+
+        // 填充包头
+        pt_packet[0] = 0xBB;
+        pt_packet[1] = 0xBE;
+        pt_packet[2] = PT_PAYLOAD_LEN;
+        pt_packet[3] = PT_TYPE;
+
+        // 打包压力数据 data_to_send.adc_P (占 pt_packet[4] 到 pt_packet[7])
+        pt_packet[4] = (uint8_t)(data_to_send.adc_P & 0xFF);         // 最低字节 (LSB)
+        pt_packet[5] = (uint8_t)((data_to_send.adc_P >> 8) & 0xFF);  
+        pt_packet[6] = (uint8_t)((data_to_send.adc_P >> 16) & 0xFF);
+        pt_packet[7] = (uint8_t)((data_to_send.adc_P >> 24) & 0xFF); // 最高字节 (MSB)
+
+        // 打包温度数据 data_to_send.adc_T (占 pt_packet[8] 到 pt_packet[11])
+        pt_packet[8] = (uint8_t)(data_to_send.adc_T & 0xFF);         // 最低字节 (LSB)
+        pt_packet[9] = (uint8_t)((data_to_send.adc_T >> 8) & 0xFF);
+        pt_packet[10] = (uint8_t)((data_to_send.adc_T >> 16) & 0xFF);
+        pt_packet[11] = (uint8_t)((data_to_send.adc_T >> 24) & 0xFF); // 最高字节 (MSB)
+
+        send_data_to_ble_client(&pt_packet, PT_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);
+    }
+}
+
+static u8 bmp280_test_id = 0;
 void xtell_task_create(void){
 
-    // int ret = hw_iic_init(0);
-    // xlog("hw_iic_init result:%d\n",ret);
-    // //初始化传感器
-    // SL_SC7U22_Config();
-
     #if TCFG_GSENOR_USER_IIC_TYPE
-    
     int ret = hw_iic_init(0);
     xlog("init iic result:%d\n", ret);  //返回0成功
     #else
@@ -540,57 +289,32 @@ void xtell_task_create(void){
     
     #endif
     
-    gpio_set_direction(IO_PORTE_05,0);          //设置PE5 输出模式
-    gpio_set_pull_up(IO_PORTE_05,1);
-    gpio_direction_output(IO_PORTE_05,1);
-
-    // os_time_dly(10);
-    // delay_2ms(10);
-
-
-
-    // if(bmp280_init() != 0){
-    //     xlog("bmp280 init error\n");
-    // }
-    // float temp, press;
-    // bmp280_read_data(&temp, &press);
-    // xlog("get temp: %d, get press: %d\n",temp, press);
-
-
-
     // MPU9250_Mag_Init();
     //iic总线设备扫描
-    // extern void i2c_scanner_probe(void);
-    // i2c_scanner_probe();
-
+    extern void i2c_scanner_probe(void);
+    i2c_scanner_probe();
 
     xlog("xtell_task_create\n");
-    // 初始化环形缓冲区
-    // circle_buffer_init(&sensor_cb, sensor_data_buffer, SENSOR_DATA_BUFFER_SIZE);
 
-    
-    ano_protocol_init(115200);
-    
-
-    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));
-
-
-    //初始化滑雪追踪器
-    // SkiingTracker_Init(&skiing_data); 
-    xlog("SkiingTracker_Init\n");
-
-
-    // create_process(&sensor_read_data_id, "read",NULL, sensor_read_data, 10);
-// 
-    // create_process(&calculate_data_id, "calculate",NULL, calculate_data, 4);
-
-    // create_process(&ble_send_data_id, "send",NULL, BLE_send_data, 1);
-
-    #if 0
-    hw_iic_init_result = ret;
-    create_process(&xt_iic_test_id,"iic_test",NULL,xt_hw_iic_test,1000);
-    #endif
+    circle_buffer_init(&BLE_send_buff, BLE_send_data, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
 
+    bmp280_init();
+    extern void bmp280_test(void);
+    xlog("barometer start measeure\n");
+    // create_process(&bmp280_test_id,"bmp280_test",NULL, bmp280_test, 100);
+    float Temp = 0;
+    float Press = 0;
+    xlog("test_func\n");
+    bmp280_read_data(&Temp, &Press);
+    xlog("Temp:%.2f, Press:%.2f\n",Temp,Press);
 }
+
+
+
+//////////////////////////////////////////////////////////////////////////////
+//test
+//
+
+void bmp280_test(void){
+    
+}

apps/earphone/xtell_Sensor/sensor/BMP280.c

@@ -112,13 +112,14 @@ uint8_t bmp280_init(void) {
         printf("bmp280 check diff:%d\n",id );
         return 1; // ID不匹配
     }
+    printf("bmp280 get id:0%X\n",id );  
 
     // 2. 软复位
     bmp280_write_reg(BMP280_REG_RESET, 0xB6);
     os_time_dly(10); // 等待复位完成
 
     // 3. 一次性读取所有校准参数
-    if (bmp280_read_regs(BMP280_REG_CALIB_START, calib_data, 24) != 0) {
+    if (bmp280_read_regs(BMP280_REG_CALIB_START, calib_data, 24) == 0) {
         return 2; // 读取校准数据失败
     }
 
@@ -147,18 +148,29 @@ uint8_t bmp280_init(void) {
 
     os_time_dly(10); // 等待配置生效
 
+    printf("bmp280 init success\n");
     return 0; // 初始化成功
 }
 
+/**
+ * @brief 获取转换后的温度和压力数据
+ * 
+ * @param temperature 传出，温度
+ * @param pressure 传出，压力
+ * @return uint8_t 
+ */
 uint8_t bmp280_read_data(float *temperature, float *pressure) {
     uint8_t data[6];
     int32_t adc_P, adc_T;
 
+    // printf("==========debug1===========\n");
     // 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) {
+    if (bmp280_read_regs(BMP280_REG_PRESS_MSB, data, 6) == 0) {
+        printf("bmp280:read data error\n");
         return 1; // 读取失败
     }
 
+    // printf("==========debug2===========\n");
     // 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));
@@ -167,12 +179,33 @@ uint8_t bmp280_read_data(float *temperature, float *pressure) {
     if (adc_T == 0x80000 || adc_P == 0x80000) {
         *temperature = 0.0f;
         *pressure = 0.0f;
+        printf("bmp280:no data\n");
         return 1;
     }
 
+    // printf("==========debug3===========\n");
     // 进行补偿计算
     *temperature = compensate_temperature(adc_T);
     *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

@@ -6,6 +6,9 @@
 #include "gSensor/gSensor_manage.h"
 #include "printf.h"
 
+#define CALIBRATION_TIME 20000  //校准持续时间 ms
+#define SAMPLE_INTERVAL  100    //校准采样间隔
+
 // 用于跟踪当前是否处于连续测量模式
 static uint8_t g_continuous_mode_enabled = 0;
 mmc5603nj_cal_data_t cal_data;  //校准数据
@@ -27,9 +30,9 @@ uint8_t mmc5603nj_get_pid(void) {
 
 int mmc5603nj_init(void) {
     //  ID
-    if (mmc5603nj_get_pid() != 0x80) {
+    if ( mmc5603nj_get_pid() != 0x10) {
         printf("MMC5603NJ init failed: wrong Product ID (read: 0x%X)\n", mmc5603nj_get_pid());
-        return -1;
+        // return 0;
     }
 
     //  软件复位
@@ -55,17 +58,16 @@ int mmc5603nj_init(void) {
 
     mmc5603nj_enable_continuous_mode(0x04);
 
-    
+    return 1;
+}
+
+void mmc5603nj_start_calibration(void){
     printf("\n--- Magnetometer Calibration Start ---\n");
     printf("Slowly rotate the device in all directions (like drawing a 3D '8')...\n");
     printf("Calibration will last for 20 seconds.\n\n");
     printf("will start after 5 seconds\n\n");
     os_time_dly(500);
 
-    // 定义校准时长和采样间隔
-    const uint32_t calibration_duration_ms = 20000; // 20秒
-    const uint32_t sample_interval_ms = 100;        // 每100ms采样一次
-
     // 初始化最大最小值
     // 使用一个临时变量来读取数据，避免干扰read函数的正常逻辑
     mmc5603nj_mag_data_t temp_mag_data;
@@ -81,7 +83,7 @@ int mmc5603nj_init(void) {
 
     uint32_t start_time = os_time_get(); // 假设os_time_get()返回毫秒级时间戳
     int samples = 0;
-    int over = calibration_duration_ms/sample_interval_ms;
+    int over = CALIBRATION_TIME/SAMPLE_INTERVAL;
 
     while (samples <= over) {
         // 读取原始磁力计数据
@@ -98,7 +100,7 @@ int mmc5603nj_init(void) {
         if (temp_mag_data.z < min_z) min_z = temp_mag_data.z;
         
         samples++;
-        os_time_dly(sample_interval_ms / 10); // os_time_dly的参数通常是ticks (1 tick = 10ms)
+        os_time_dly(SAMPLE_INTERVAL / 10); 
     }
 
     // 检查数据范围是否合理，防止传感器未动或故障
@@ -106,7 +108,7 @@ int mmc5603nj_init(void) {
         printf("\n--- Calibration Failed ---\n");
         printf("Device might not have been rotated enough.\n");
         printf("X range: %.2f, Y range: %.2f, Z range: %.2f\n", max_x - min_x, max_y - min_y, max_z - min_z);
-        return -1;
+        return;
     }
 
     // 计算硬磁偏移 (椭球中心)
@@ -121,8 +123,6 @@ int mmc5603nj_init(void) {
     printf("  Y: %.4f\n", cal_data.offset_y);
     printf("  Z: %.4f\n", cal_data.offset_z);
     printf("Please save these values and apply them in your code.\n\n");
-
-    return 0;
 }
 
 
@@ -218,4 +218,42 @@ void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
     mag_data->x -= cal_data.offset_x;
     mag_data->y -= cal_data.offset_y;
     mag_data->z -= cal_data.offset_z;
+}
+
+
+void mmc5603nj_read_origin_data(uint8_t *buffer) {
+
+    if (g_continuous_mode_enabled) {
+        // 连续模式下，只需检查数据是否就绪
+        uint8_t status = 0;
+        mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
+        if ((status & 0x40) == 0) { // Meas_M_done bit
+            // 数据未就绪，可以选择返回或等待，这里我们直接返回旧数据
+            return;
+        }
+    } else {
+        // 单次测量模式
+        uint8_t status = 0;
+        uint8_t timeout = 20;
+
+        // 触发一次带自动SET/RESET的磁场测量
+        mmc5603nj_write_reg(MMC_INCTRL0, 0x21); // 0b00100001 (TAKE_MEAS_M=1, AUTO_SR_EN=1)
+
+        // 等待测量完成
+        do {
+            os_time_dly(10);
+            mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
+            timeout--;
+        } while ((status & 0x40) == 0 && timeout > 0);
+
+        if (timeout == 0) {
+            printf("Error: Magnetic measurement timeout!\n");
+            return;
+        }
+    }
+
+    // 读取9个字节的原始数据
+    mmc5603nj_read_regs(MMC_XOUT0, buffer, 9);
+
+
 }

apps/earphone/xtell_Sensor/sensor/MMC56.h

@@ -36,6 +36,14 @@
 #define MMC_ST_Z                0x29
 #define MMC_PID                 0x39
 
+// 定义一个结构体来存放三轴磁场数据（原始数据）
+typedef struct {
+    float x;
+    float y;
+    float z;
+} mmc5603nj_original_data_t;
+
+
 // 定义一个结构体来存放三轴磁场数据（单位：高斯 Gauss）
 typedef struct {
     float x;

apps/earphone/xtell_Sensor/sensor/SC7U22.c

@@ -1167,10 +1167,19 @@ unsigned char Original_SL_SC7U22_Angle_Output(unsigned char calibration_en, sign
     
     return 2; // 校准未完成，返回错误状态
 }
-unsigned char get_calibration_state(void){
+
+unsigned char get_SC7U22_Error_Flag(void){
 	return SL_SC7U22_Error_Flag;
 }
 
+/**
+ * @brief 设置零漂检测标准位
+ * 
+ * @param flag 0：重新进行零漂检测
+ */
+void set_SC7U22_Error_Flag(char flag){
+	SL_SC7U22_Error_Flag = flag;
+}
 
 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -1182,7 +1191,7 @@ unsigned char get_calibration_state(void){
 // Kp: 比例增益，决定了加速度计数据校正陀螺仪的权重。值越大，对加速度计的响应越快，但对运动加速度更敏感。
 // Ki: 积分增益，决定了用于校正陀螺仪静态漂移的权重。
 // Q_dt: 采样时间间隔（单位：秒），这里是10ms (0.01s)，对应100Hz的采样率。
-#define HAVE_MAG 1
+#define HAVE_MAG 0
 #if HAVE_MAG == 0
 // -- 无地磁 --
 const float Kp = 2.0f;
@@ -1190,8 +1199,8 @@ const float Ki = 0.005f;
 const float Q_dt = 0.01f;
 #else
 // -- 有地磁 --
-const float Kp = 0.3f;
-const float Ki = 0.001f;
+const float Kp = 2.0f;
+const float Ki = 0.005f;
 const float Q_dt = 0.01f;
 #endif
 
@@ -1233,7 +1242,7 @@ float         Temp_Mag[3] = {0.0f, 0.0f, 0.0f};
 */
 unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, const mmc5603nj_mag_data_t* _mag_data_input, unsigned char yaw_rst, float *quaternion_output)
 {
-#if 1  //有地磁置1
+#if 0  //有地磁置1
     unsigned char sl_i = 0;
     // 如果外部强制禁用校准，则将标志位置1
     if (calibration_en == 0) {
@@ -1312,8 +1321,6 @@ unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed shor
                 // Error_Mag_f[0] = 0.0f - (float)Sum_Avg_Mag_f[0];
                 // Error_Mag_f[1] = 0.0f - (float)Sum_Avg_Mag_f[1];
                 // Error_Mag_f[2] = 0.0f - (float)Sum_Avg_Mag_f[2];
-                // xlog("AVG_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Sum_Avg_Accgyro[0], Sum_Avg_Accgyro[1], Sum_Avg_Accgyro[2], Sum_Avg_Accgyro[3], Sum_Avg_Accgyro[4], Sum_Avg_Accgyro[5]);
-                // xlog("Error_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Error_Accgyro[0], Error_Accgyro[1], Error_Accgyro[2], Error_Accgyro[3], Error_Accgyro[4], Error_Accgyro[5]);
             }
         } else {
             SL_SC7U22_Error_cnt2 = 0;
@@ -1583,10 +1590,30 @@ unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed shor
             eyInt = eyInt + ey * Ki * Q_dt;
             ezInt = ezInt + ez * Ki * Q_dt;
 
+            float kp_dynamic = Kp; // 默认使用全局Kp
+
+            // // 计算重力向量与Z轴的夹角余弦值
+            // // 当设备接近水平时，abs_az_component 接近 1
+            // // 当设备接近垂直时，abs_az_component 接近 0
+            // float abs_az_component = fabsf(az); 
+
+            // // 设置一个阈值，比如当与水平面的夹角大于75度时 (cos(75) approx 0.26)
+            // // 就开始降低Kp
+            // if (abs_az_component < 0.26f) {
+            //     // 线性降低Kp，或者直接使用一个较小的值
+            //     // 越接近垂直，az越小，Kp也越小
+            //     kp_dynamic = Kp * (abs_az_component / 0.26f); 
+            // }
+
             // 使用PI控制器校正陀螺仪的测量值
-            gx = gx + Kp * ex + exInt;
-            gy = gy + Kp * ey + eyInt;
-            gz = gz + Kp * ez + ezInt;
+            gx += kp_dynamic * ex + exInt;
+            gy += kp_dynamic * ey + eyInt;
+            gz += kp_dynamic * ez + ezInt;
+
+            
+            // gx = gx + Kp * ex + exInt;
+            // gy = gy + Kp * ey + eyInt;
+            // gz = gz + Kp * ez + ezInt;
         }
 
         // 使用校正后的角速度更新四元数 (一阶毕卡法)

apps/earphone/xtell_Sensor/sensor/SC7U22.h

@@ -20,12 +20,12 @@ Copyright (c) 2022 Silan MEMS. All Rights Reserved.
 /***使用前请根据实际情况配置以下参数******/
 /**SC7U22的SDO 接地:  0****************/
 /**SC7U22的SDO 接电源:1****************/
-#define SL_SC7U22_SDO_VDD_GND            1
+#define SL_SC7U22_SDO_VDD_GND            0
 /*****************************************/
 /***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
@@ -131,6 +131,7 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en,signed short *
 /**output Angle_output[2]:   Yaw*******************************/
 /**input  yaw_rst:   reset yaw value***************************/
 
+void set_SC7U22_Error_Flag(char flag);
 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 Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, const mmc5603nj_mag_data_t *mag_data_input, unsigned char yaw_rst, float *quaternion_output);

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

@@ -49,6 +49,7 @@
 #include "./sensor/MMC56.h"
 #include "./sensor/BMP280.h"
 #include "./sensor/AK8963.h"
+#include "./calculate/skiing_tracker.h"
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //宏定义
 #define LOG_TAG_CONST       EARPHONE
@@ -84,13 +85,23 @@ unsigned char xtell_bl_state=0;   //存放经典蓝牙的连接状态，0断开
 u8 bt_newname =0;
 unsigned char xt_ble_new_name[9] = "CM-22222";
 static u16 play_poweron_ok_timer_id = 0;
+
+// -- 初始化标志位 --
+u8 SC7U22_init = 0x10;     //六轴是否初始化
+u8 MMC5603nj_init = 0x20;  //地磁是否初始化
+u8 BMP280_init = 0x30;   //气压计初始化
+// -- 线程id --
+u16 SC7U22_calibration_id;
+u16 start_collect_fuc_id;
+u16 BLE_send_fuc_id;
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
 extern int bt_hci_event_handler(struct bt_event *bt);
-
+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
@@ -202,58 +213,80 @@ void le_user_app_event_handler(struct sys_event* event){
             if (event->u.app.buffer[0] == 0xBE && event->u.app.buffer[1] == 0xBB) {
                 if(event->u.app.buffer[2] == 0x01){      //后面的数据长度 1
                     switch (event->u.app.buffer[3]){
-                        case 0x01:
-                            char* send_start = "will start after 5 seconds\n";
-                            send_data_to_ble_client(send_start,strlen(send_start));
-                            
-                            if (mmc5603nj_init() != 0) {
-                                xlog("MMC5603NJ initialization failed!\n");
-                                char* send_error = "calibration error\n";
-                                send_data_to_ble_client(send_error,strlen(send_error));
-                            }
-                            xlog("MMC5603NJ PID: 0x%02X\n", mmc5603nj_get_pid());
-                            char* send_tmp = "8th calibration completed\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x02:
-                            extern void create_process(u16* pid,char* name, void *priv, void (*func)(void *priv), u32 msec);
-                            extern void sensor_measure(void);
-                            static int test_id;
-                            SL_SC7U22_Config();
-                            create_process(&test_id, "test",NULL, sensor_measure, 10);
-                            send_tmp = "start_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x03:
-                            extern void start_detection(void);
-                            start_detection();
-                            send_tmp = "start_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x04:
-                            extern void stop_detection(void);
-                            stop_detection();
-                            send_tmp = "stop_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x05:
-                            extern void clear_speed(void);
-                            clear_speed();
-                            send_tmp = "Reset speed and distances to zero\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
+                        case 0xff:  //测试
                             
                             break;
                         default:
                             break;
-                        
+                    }
+                }else if(event->u.app.buffer[2] == 0x02){  //后面数据长度为2
+                    switch (event->u.app.buffer[3]){  //数据包类型
+                        case 0x00: //数据包类型为：指定传感器初始化
+                            u8 send2_0[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                            if(event->u.app.buffer[4] == 0x01){  //六轴
+                                if (SL_SC7U22_Config() == 0) {
+                                    send2_0[4] = 0x00;    //初始化失败
+                                    SC7U22_init = 0x10;
+                                    send_data_to_ble_client(&send2_0,5);
+                                    return;
+                                }
+                                create_process(&SC7U22_calibration_id,"SC7U22_calibration",NULL,SC7U22_static_calibration,10);
+                            }else if(event->u.app.buffer[4] == 0x02){  //地磁
+                                if(mmc5603nj_init() == 0){
+                                    MMC5603nj_init = 0x20;
+                                    send2_0[4] = MMC5603nj_init;  //地磁初始化失败
+                                    send_data_to_ble_client(&send2_0,5);
+                                    return;
+                                }
+                                MMC5603nj_init = 0x21;
+                                send2_0[4] = MMC5603nj_init;  //地磁初始化成功
+                                send_data_to_ble_client(&send2_0,5);
+                            }else if(event->u.app.buffer[4] == 0x03){  //气压计初始化
+                                if(bmp280_init() != 0){
+                                    //初始化失败
+                                    BMP280_init = 0x30;
+                                    send2_0[4] = BMP280_init;
+                                    send_data_to_ble_client(&send2_0,5);
+                                    return;
+                                }
+                                BMP280_init = 0x31;
+                                send2_0[4] = BMP280_init;  //气压计初始化成功
+                                send_data_to_ble_client(&send2_0,5);
+                            }
+                            break;
+                        case 0x01: //数据包类型为：获取指定传感器初始化状态
+                            u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                            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;
+                            }else if(event->u.app.buffer[4] == 0x03){  //气压计
+                                send2_1[4] = BMP280_init;
+                            }
+                            send_data_to_ble_client(&send2_1,5);
+                            break;
+                        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 == 0x10 || MMC5603nj_init == 0x20 || BMP280_init == 0x30){ //传感器未进行初始化
+                                    u8 send2_2[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                                    send_data_to_ble_client(&send2_2,5);
+                                    return;
+                                }
+                                create_process(&start_collect_fuc_id,"start_collect",NULL,start_collect_fuc,10);
+                                create_process(&BLE_send_fuc_id,"BLE_send_fuc",NULL,BLE_send_fuc,1);
+                            }else if(event->u.app.buffer[4] == 0x02){ //停止滑雪计算
+                                close_process(&start_collect_fuc_id,"start_collect");
+                                close_process(&BLE_send_fuc_id,"BLE_send_fuc");
+                            }
+                            break;
                     }
                 }
             }
-        break;
+            break;
 
         default:
-        xlog("%d\n",event->type);
-        break;
+            xlog("%d\n",event->type);
+            break;
     }
 
 

objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.d

@@ -131,4 +131,5 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o: \
   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/xtell_Sensor/sensor/MMC56.h \
   C:/JL/pi32/pi32v2-include\math.h

objs/apps/earphone/xtell_Sensor/send_data.c.d

@@ -138,8 +138,11 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o: \
   apps/common/device\gSensor/gSensor_manage.h \
   include_lib/driver/cpu/br28\asm/iic_hw.h \
   include_lib/driver/cpu/br28\asm/iic_soft.h \
+  apps/earphone/xtell_Sensor/sensor/MMC56.h \
   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/./ano/ano_protocol.h
+  apps/earphone/xtell_Sensor/./ano/ano_protocol.h \
+  apps/earphone/xtell_Sensor/./sensor/BMP280.h \
+  apps/earphone/xtell_Sensor/./sensor/AK8963.h

objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.d

@@ -0,0 +1,133 @@
+objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o: \
+  apps/earphone/xtell_Sensor/sensor/AK8963.c \
+  apps/earphone/xtell_Sensor/sensor/AK8963.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
+  C:/JL/pi32/pi32v2-include\sys/features.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
+  apps/common/device\gSensor/gSensor_manage.h \
+  include_lib/system/generic\printf.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/printf.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/reent.h \
+  C:/JL/pi32/pi32v2-include\sys/_types.h \
+  C:/JL/pi32/pi32v2-include\machine/_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\machine/types.h include_lib\system/malloc.h \
+  include_lib/system/generic\cpu.h \
+  include_lib/driver/cpu/br28\asm/iic_hw.h \
+  include_lib/driver/cpu/br28\asm/iic_soft.h include_lib/system\timer.h \
+  include_lib/system/generic/list.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\stdlib.h \
+  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
+  C:/JL/pi32/pi32v2-include\alloca.h \
+  include_lib/btctrler/classic/hci_lmp.h include_lib/system\event.h \
+  include_lib/system/generic/rect.h include_lib\system/includes.h \
+  include_lib/system/init.h include_lib/system/spinlock.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/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 \
+  C:/JL/pi32/pi32v2-include\math.h \
+  apps/earphone/xtell_Sensor/sensor/../xtell.h

objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.d

@@ -0,0 +1,129 @@
+objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o: \
+  apps/earphone/xtell_Sensor/sensor/BMP280.c \
+  apps/earphone/xtell_Sensor/sensor/BMP280.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
+  C:/JL/pi32/pi32v2-include\sys/features.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\sys/_stdint.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/reent.h \
+  C:/JL/pi32/pi32v2-include\sys/_types.h \
+  C:/JL/pi32/pi32v2-include\machine/_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 include_lib/system\os/os_api.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/typedef.h include_lib\system/generic/log.h \
+  include_lib/system\generic/errno-base.h \
+  C:/JL/pi32/pi32v2-include\strings.h \
+  C:/JL/pi32/pi32v2-include\sys/types.h \
+  C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.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 \
+  apps/common/device\gSensor/gSensor_manage.h \
+  include_lib/system/generic\cpu.h \
+  include_lib/driver/cpu/br28\asm/iic_hw.h \
+  include_lib/driver/cpu/br28\asm/iic_soft.h include_lib/system\timer.h \
+  include_lib/system/generic/list.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\stdlib.h \
+  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
+  C:/JL/pi32/pi32v2-include\alloca.h \
+  include_lib/btctrler/classic/hci_lmp.h include_lib/system\event.h \
+  include_lib/system/generic/rect.h include_lib\system/includes.h \
+  include_lib/system/init.h include_lib/system/spinlock.h \
+  include_lib/system/generic\irq.h include_lib/system/task.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

objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.d

@@ -0,0 +1,130 @@
+objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o: \
+  apps/earphone/xtell_Sensor/sensor/MMC56.c \
+  apps/earphone/xtell_Sensor/sensor/MMC56.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
+  C:/JL/pi32/pi32v2-include\sys/features.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
+  C:/JL/pi32/pi32v2-include\math.h C:/JL/pi32/pi32v2-include\sys/reent.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/_types.h \
+  C:/JL/pi32/pi32v2-include\machine/_types.h \
+  C:/JL/pi32/pi32v2-include\sys/lock.h include_lib/system\os/os_api.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/typedef.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\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\machine/types.h include_lib\system/malloc.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 \
+  apps/earphone/xtell_Sensor/sensor/../xtell.h \
+  apps/common/device\gSensor/gSensor_manage.h \
+  include_lib/system/generic\cpu.h \
+  include_lib/driver/cpu/br28\asm/iic_hw.h \
+  include_lib/driver/cpu/br28\asm/iic_soft.h include_lib/system\timer.h \
+  include_lib/system/generic/list.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\stdlib.h \
+  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
+  C:/JL/pi32/pi32v2-include\alloca.h \
+  include_lib/btctrler/classic/hci_lmp.h include_lib/system\event.h \
+  include_lib/system/generic/rect.h include_lib\system/includes.h \
+  include_lib/system/init.h include_lib/system/spinlock.h \
+  include_lib/system/generic\irq.h include_lib/system/task.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

objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.d

@@ -129,5 +129,6 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o: \
   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/xtell_Sensor/sensor/MMC56.h \
   C:/JL/pi32/pi32v2-include\math.h \
   apps/earphone/xtell_Sensor/sensor/../xtell.h

objs/apps/earphone/xtell_Sensor/xtell_handler.c.d

@@ -181,4 +181,10 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o: \
   apps/common/device\in_ear_detect/in_ear_manage.h \
   apps/earphone/include\vol_sync.h apps/earphone/include\bt_background.h \
   apps/earphone/include\default_event_handler.h \
-  include_lib/system\debug.h
+  include_lib/system\debug.h \
+  apps/earphone/xtell_Sensor/./ano/ano_protocol.h \
+  apps/earphone/xtell_Sensor/./sensor/MMC56.h \
+  apps/earphone/xtell_Sensor/./sensor/BMP280.h \
+  apps/earphone/xtell_Sensor/./sensor/AK8963.h \
+  apps/earphone/xtell_Sensor/./calculate/skiing_tracker.h \
+  apps/earphone/xtell_Sensor/calculate/../xtell.h