#include "system/includes.h" #include "btstack/btstack_task.h" #include "app_config.h" #include "app_action.h" #include "asm/pwm_led.h" #include "tone_player.h" #include "ui_manage.h" #include "gpio.h" #include "app_main.h" #include "asm/charge.h" #include "update.h" #include "app_power_manage.h" #include "audio_config.h" #include "app_charge.h" #include "bt_profile_cfg.h" #include "dev_manager/dev_manager.h" #include "update_loader_download.h" #include "./sensor/SC7U22.h" #include "./buffer/circle_buffer.h" #include "btstack/avctp_user.h" #include "calculate/skiing_tracker.h" #include "xtell.h" /////////////////////////////////////////////////////////////////////////////////////////////////// //宏定义 #define ENABLE_XLOG 1 #ifdef xlog #undef xlog #endif #if ENABLE_XLOG #define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__) #else #define xlog(format, ...) ((void)0) #endif // /////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////// //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); //END -- 函数定义 ////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////// //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; //--- test --- // 全局变量 u16 gsensor_id=0; u16 test_id=0; //END -- 变量定义 ////////////////////////////////////////////////////////////////////////////////////////////////// // /** // * @brief 向匿名上位机发送数据帧 // * @param function_id 功能码 (例如 0x01, 0x03) // * @param data 指向 int16_t 数据数组的指针 (例如加速度、欧拉角) // * @param data_len int16_t 数据的个数 (例如发送6轴数据时为6，发送3个欧拉角时为3) // * @param status_byte 附加的状态字节 (例如 SHOCK_STA 或 FUSION_STA) // */ // void send_data_anotc(uint8_t function_id, int16_t* data, uint8_t data_len, uint8_t status_byte) { // // 定义一个足够大的缓冲区来构建数据帧 // // 最大长度(ID 0x01): 1(HEAD)+1(D_ADDR)+1(ID)+1(LEN)+13(DATA)+1(SC)+1(AC) = 19字节 // uint8_t buffer[32]; // uint8_t data_payload_len = data_len * sizeof(int16_t) + sizeof(uint8_t); // // 1. 填充帧头和地址 // buffer[0] = 0xAA; // 帧头 HEAD // buffer[1] = 0xFF; // 目标地址 D_ADDR // // 2. 填充功能码和数据长度 // buffer[2] = function_id; // buffer[3] = data_payload_len; // // 3. 填充数据内容 (DATA) // // 首先使用 memcpy 拷贝主要的 int16_t 数组数据 // // &buffer[4] 是数据区的起始地址 // memcpy(&buffer[4], (uint8_t*)data, data_len * sizeof(int16_t)); // // 然后在数据区末尾填充状态字节 // buffer[4 + data_len * sizeof(int16_t)] = status_byte; // // 4. 计算校验和 (SC 和 AC) // uint8_t sum_check = 0; // uint8_t add_check = 0; // // SC: 和校验 (从帧头到数据区最后一个字节) // for (int i = 0; i < 4 + data_payload_len; ++i) { // sum_check += buffer[i]; // } // // 将SC填充到缓冲区 // buffer[4 + data_payload_len] = sum_check; // // AC: 附加校验 (从帧头到SC) // for (int i = 0; i < 4 + data_payload_len + 1; ++i) { // add_check += buffer[i]; // } // // 将AC填充到缓冲区 // buffer[4 + data_payload_len + 1] = add_check; // // 5. 发送整个数据帧 // uint16_t frame_length = 4 + data_payload_len + 2; // // Serial_Send_Buffer(buffer, frame_length); // for (int i = 0; i < frame_length; ++i) { // // 使用 %c 格式化字符来发送单个字节的原始值 // printf("%c", buffer[i]); // } // printf("\n"); // } void ble_send_data(signed short *acc_gyro_input, float *Angle_output){ char buffer[50]; //一次最多发送50字节 u8 len = 0; //AA FF 01 六轴数据 EE //TO DO send_data_to_ble_client(&buffer,len); //AA FF 02 欧若拉角数据 EE // TO DO send_data_to_ble_client(&buffer,len); } // 从环形缓冲区读取数据并发送 void send_sensor_data_task(void) { // printf("xtell_ble_send\n"); } #if 0 BLE_send_data_t BLE_send_data; 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 100 // 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]; } 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 /** * @brief //读取传感器的数据放进缓冲区 * */ void sensor_read_data(){ // xlog("=======sensor_read_data START\n"); static signed short combined_raw_data[6]; static int initialized = 0; static int calibration_done = 0; char status = 0; if(circle_buffer_is_full(&sensor_read)){ // xlog("sensor_read_data: read buffer full\n"); return; } static sensor_data_t tmp; SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data); memcpy(&combined_raw_data[0], tmp.acc_data, 3 * sizeof(signed short)); memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short)); if (!calibration_done) { //第1次启动，开启零漂检测 status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0); 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); memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short)); memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short)); circle_buffer_write(&sensor_read, &tmp); } // 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; } circle_buffer_read(&sensor_read, &tmp); BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle); if(circle_buffer_is_full(&sensor_send)) return; circle_buffer_write(&sensor_send, &data_by_calculate); // extern void BLE_send_data(); // BLE_send_data(); // xlog("=======end\n"); } static int count = 0; void BLE_send_data(){ if(circle_buffer_is_empty(&sensor_send)){ // xlog("sensor_send_buffer: send buffer empty\n"); return; } #ifdef XTELL_TEST BLE_send_data_t tmp; circle_buffer_read(&sensor_send, &tmp); if(count >=50){ 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 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)); 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]); } count++; #else #endif } 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 soft_iic_init(0); #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); SL_SC7U22_Config(); // extern u8 LIS2DH12_Config(void); // LIS2DH12_Config(); 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); 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(&test_id, "test",NULL, test, (int)(DELTA_TIME*1000)); create_process(&sensor_read_data_id, "read",NULL, sensor_read_data, 10); create_process(&calculate_data_id, "calculate",NULL, calculate_data, 1); create_process(&ble_send_data_id, "send",NULL, BLE_send_data, 1); }