371 lines
12 KiB
C
371 lines
12 KiB
C
#include "system/includes.h"
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#include "btstack/btstack_task.h"
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#include "app_config.h"
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#include "app_action.h"
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#include "asm/pwm_led.h"
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#include "tone_player.h"
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#include "ui_manage.h"
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#include "gpio.h"
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#include <math.h>
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#include <string.h>
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#include "app_main.h"
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#include "asm/charge.h"
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#include "update.h"
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#include "app_power_manage.h"
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#include "audio_config.h"
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#include "app_charge.h"
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#include "bt_profile_cfg.h"
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#include "dev_manager/dev_manager.h"
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#include "update_loader_download.h"
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#include "./sensor/SC7U22.h"
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#include "./buffer/circle_buffer.h"
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#include "btstack/avctp_user.h"
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#include "calculate/skiing_tracker.h"
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#include "xtell.h"
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#include "./ano/ano_protocol.h"
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#include "./sensor/MMC56.h"
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#include "./sensor/BMP280.h"
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#include "./sensor/AK8963.h"
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#include "asm/rtc.h"
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#include "system/timer.h"
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///////////////////////////////////////////////////////////////////////////////////////////////////
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//宏定义
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#define ENABLE_XLOG 1
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#ifdef xlog
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#undef xlog
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#endif
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#if ENABLE_XLOG
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#define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
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#else
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#define xlog(format, ...) ((void)0)
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#endif
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#define SENSOR_DATA_BUFFER_SIZE 1000 // 定义缓冲区可以存储XXX个sensor_data_t元素
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//
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///////////////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//START -- 函数定义
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void send_data_to_ble_client(const u8* data, u16 length);
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extern void create_process(u16* pid, const char* name, void *priv, void (*func)(void *priv), u32 msec);
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extern void close_process(u16* pid,char* name);
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//END -- 函数定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//START -- 变量定义
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typedef struct {
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// -- 六轴 --
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signed short SC7U22_data[6];
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// -- 磁力计 --
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uint8_t mmc5603nj_buffer[9];
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// -- 速度 --
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uint16_t speed_cms;
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// -- 气压计 --
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int adc_P;
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int adc_T;
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// -- 左/右腿 --
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uint8_t foot; //1：左脚；2：右脚
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} BLE_send_data_t;
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static int count = 0;
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// --- 环形缓冲区 ---
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static circle_buffer_t BLE_send_buff; // 环形缓冲区管理结构体
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BLE_send_data_t BLE_send_data[SENSOR_DATA_BUFFER_SIZE];
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//END -- 变量定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* @brief 六轴静态校准
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*
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*/
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void SC7U22_static_calibration(void){
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signed short acc_data_buf[3];
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signed short gyr_data_buf[3];
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float angle[3];
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float quaternion_output[3];
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static signed short combined_raw_data[6];
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static int calibration_done = 0;
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char status = 0;
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static first_set_flag = 0;
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if(first_set_flag == 0){
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first_set_flag = 1;
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set_SC7U22_Error_Flag(0);
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}
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
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status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, angle,NULL, 0, quaternion_output);
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if(status == 1){ //校准完成
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extern u16 SC7U22_calibration_id;
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extern u8 SC7U22_init;
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first_set_flag = 0;
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SC7U22_init = 0x11;
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close_process(&SC7U22_calibration_id, "SC7U22_calibration");
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u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00};
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send2_1[4] = SC7U22_init;
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send_data_to_ble_client(&send2_1,5);
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}
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if(count > 100){
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count = 0;
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char log_buffer[100];
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// snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);
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// send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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xlog("status:%d\n", status);
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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]);
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}
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count++;
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}
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/**
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* @brief 开始采集传感器数据和计算速度
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*
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*/
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void start_collect_fuc(void){
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// xlog("=======sensor_read_data START\n");
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static signed short combined_raw_data[6];
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static int initialized = 0;
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static int calibration_done = 0;
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char status = 0;
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BLE_send_data_t BLE_send_data_tmp;
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uint8_t mmc5603nj_buffer[9];
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signed short acc_data_buf[3];
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signed short gyr_data_buf[3];
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float angle[3];
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float quaternion_output[3];
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// -- 读数据 --
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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mmc5603nj_read_origin_data(mmc5603nj_buffer);
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bmp280_read_originanl_data(&BLE_send_data_tmp.adc_P, &BLE_send_data_tmp.adc_T);
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memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
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// -- 四元数 --
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status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
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// -- 速度计算 --
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memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
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memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
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uint16_t speed = sensor_processing_task(acc_data_buf,gyr_data_buf,angle, quaternion_output);
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// -- 数据包装进结构体 --
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memcpy(&BLE_send_data_tmp.SC7U22_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&BLE_send_data_tmp.SC7U22_data[3], gyr_data_buf, 3 * sizeof(signed short));
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memcpy(BLE_send_data_tmp.mmc5603nj_buffer, mmc5603nj_buffer, 9);
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BLE_send_data_tmp.speed_cms = speed;
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// -- 放进缓冲区 --
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if(circle_buffer_is_full(&BLE_send_buff) == 0){
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circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
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}
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// xlog("=======sensor_read_data END\n");
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}
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/**
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* @brief ble数据发送函数
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*
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*/
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void BLE_send_fuc(void){
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BLE_send_data_t data_to_send;
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if (circle_buffer_is_empty(&BLE_send_buff) == 0) {
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circle_buffer_read(&BLE_send_buff, &data_to_send);
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} else {
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// 缓冲区为空，直接返回
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return;
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}
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// --- 封装并发送六轴传感器数据 ---
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{
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// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(12) = 16字节
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const uint8_t IMU_PACKET_LEN = 16;
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const uint8_t IMU_PAYLOAD_LEN = 13; // 类型(1) + 数据(12)
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const uint8_t IMU_TYPE = 0x01;
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uint8_t imu_packet[IMU_PACKET_LEN];
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// 填充包头
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imu_packet[0] = 0xBB;
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imu_packet[1] = 0xBE;
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imu_packet[2] = IMU_PAYLOAD_LEN;
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imu_packet[3] = IMU_TYPE;
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// 拷贝六轴数据
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// memcpy(&imu_packet[4], data_to_send.SC7U22_data, sizeof(data_to_send.SC7U22_data));
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for (int i = 0; i < 6; i++) {
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// SC7U22_data[i] 是一个 signed short (2字节)
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// 将其低字节放在前面
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imu_packet[4 + i * 2] = (uint8_t)(data_to_send.SC7U22_data[i] & 0xFF);
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// 将其高字节放在后面
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imu_packet[4 + i * 2 + 1] = (uint8_t)((data_to_send.SC7U22_data[i] >> 8) & 0xFF);
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}
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// xlog("imu %d\n",data_to_send.SC7U22_data[0]);
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// xlog("imu_packet: 0x%x 0x%x 0x%x\n",imu_packet[4],imu_packet[5],imu_packet[6]);
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send_data_to_ble_client(&imu_packet, IMU_PACKET_LEN);
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}
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// --- 封装并发送磁力计数据 ---
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{
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// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(9) = 13字节
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const uint8_t MAG_PACKET_LEN = 13;
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const uint8_t MAG_PAYLOAD_LEN = 10; // 类型(1) + 数据(9)
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const uint8_t MAG_TYPE = 0x02;
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uint8_t mag_packet[MAG_PACKET_LEN];
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// 填充包头
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mag_packet[0] = 0xBB;
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mag_packet[1] = 0xBE;
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mag_packet[2] = MAG_PAYLOAD_LEN;
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mag_packet[3] = MAG_TYPE;
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// 拷贝磁力计数据
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// memcpy(&mag_packet[4], data_to_send.mmc5603nj_buffer, sizeof(data_to_send.mmc5603nj_buffer));
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for (int i = 0; i < 9; i++) {
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mag_packet[4 + i] = data_to_send.mmc5603nj_buffer[i];
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}
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// xlog("mag: 0x%x 0x%x 0x%x\n",mag_packet[4],mag_packet[5],mag_packet[6]);
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send_data_to_ble_client(&mag_packet, MAG_PACKET_LEN);
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}
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// --- 封装并发送压力机计数据 ---
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{
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// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(8) = 12字节
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const uint8_t PT_PACKET_LEN = 12;
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const uint8_t PT_PAYLOAD_LEN = 9; // 类型(1) + 数据(8)
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const uint8_t PT_TYPE = 0x03;
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uint8_t pt_packet[PT_PACKET_LEN];
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// 填充包头
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pt_packet[0] = 0xBB;
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pt_packet[1] = 0xBE;
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pt_packet[2] = PT_PAYLOAD_LEN;
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pt_packet[3] = PT_TYPE;
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// 打包压力数据 data_to_send.adc_P (占 pt_packet[4] 到 pt_packet[7])
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pt_packet[4] = (uint8_t)(data_to_send.adc_P & 0xFF); // 最低字节 (LSB)
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pt_packet[5] = (uint8_t)((data_to_send.adc_P >> 8) & 0xFF);
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pt_packet[6] = (uint8_t)((data_to_send.adc_P >> 16) & 0xFF);
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pt_packet[7] = (uint8_t)((data_to_send.adc_P >> 24) & 0xFF); // 最高字节 (MSB)
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// 打包温度数据 data_to_send.adc_T (占 pt_packet[8] 到 pt_packet[11])
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pt_packet[8] = (uint8_t)(data_to_send.adc_T & 0xFF); // 最低字节 (LSB)
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pt_packet[9] = (uint8_t)((data_to_send.adc_T >> 8) & 0xFF);
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pt_packet[10] = (uint8_t)((data_to_send.adc_T >> 16) & 0xFF);
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pt_packet[11] = (uint8_t)((data_to_send.adc_T >> 24) & 0xFF); // 最高字节 (MSB)
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send_data_to_ble_client(&pt_packet, PT_PACKET_LEN);
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}
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// --- 封装并发送速度数据 ---
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{
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// 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(2) = 6字节
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const uint8_t SPEED_PACKET_LEN = 6;
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const uint8_t SPEED_PAYLOAD_LEN = 3; // 类型(1) + 数据(2)
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const uint8_t SPEED_TYPE = 0x04;
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uint8_t speed_packet[SPEED_PACKET_LEN];
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// 填充包头
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speed_packet[0] = 0xBB;
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speed_packet[1] = 0xBE;
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// 填充长度
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speed_packet[2] = SPEED_PAYLOAD_LEN;
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// 填充类型
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speed_packet[3] = SPEED_TYPE;
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// 小端模式
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speed_packet[4] = (uint8_t)(data_to_send.speed_cms & 0xFF); // 低字节
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speed_packet[5] = (uint8_t)((data_to_send.speed_cms >> 8) & 0xFF); // 高字节
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send_data_to_ble_client(&speed_packet, SPEED_PACKET_LEN);
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}
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}
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void xtell_task_create(void){
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#if TCFG_GSENOR_USER_IIC_TYPE
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int ret = hw_iic_init(0);
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xlog("init iic result:%d\n", ret); //返回0成功
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#else
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int ret = soft_iic_init(0);
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int num_chars_written = snprintf(log_buffer_1, sizeof(log_buffer_1),"init iic: %d\n", ret);
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#endif
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// MPU9250_Mag_Init();
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//iic总线设备扫描
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// extern void i2c_scanner_probe(void);
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// i2c_scanner_probe();
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xlog("xtell_task_create\n");
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circle_buffer_init(&BLE_send_buff, BLE_send_data, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
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}
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//////////////////////////////////////////////////////////////////////////////
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//test
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//
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void bmp280_test(void){
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}
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void gsensor_test(void){
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// static signed short combined_raw_data[6];
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// static int initialized = 0;
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// static int calibration_done = 0;
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// char status = 0;
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// BLE_send_data_t BLE_send_data_tmp;
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// signed short acc_data_buf[3];
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// signed short gyr_data_buf[3];
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// float angle[3];
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// float quaternion_output[3];
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// // -- 读数据 --
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// SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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// memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
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// memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
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// // -- 四元数 --
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// status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
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// // -- 速度计算 --
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// memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
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// memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
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// uint16_t speed = sensor_processing_task(acc_data_buf,gyr_data_buf,angle, quaternion_output);
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#if 1
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if(count >= 5){
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xlog("==============time============\n");
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u32 current_ms = sys_timer_get_ms();
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xlog("====== current system time: %u ms\n", current_ms);
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count = 0;
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}
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count++;
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#endif
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} |