595 lines
20 KiB
C
595 lines
20 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 "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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///////////////////////////////////////////////////////////////////////////////////////////////////
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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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//
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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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//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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// --- 任务ID ---
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static u16 xtell_i2c_test_id;
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static u16 collect_data_id;
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static u16 ble_send_data_id;
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static u16 sensor_read_data_id;
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static u16 calculate_data_id;
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// --- 环形缓冲区 ---
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#define SENSOR_DATA_BUFFER_SIZE 512
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static u8 sensor_data_buffer[SENSOR_DATA_BUFFER_SIZE];
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static circle_buffer_t sensor_cb;
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static int count = 0;
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//--- test ---
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// 全局变量
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u16 gsensor_id=0;
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u16 test_id=0;
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//END -- 变量定义
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//////////////////////////////////////////////////////////////////////////////////////////////////
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#if 0
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BLE_send_data_t BLE_send_data;
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void test(){
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signed short acc_data_buf[3] = {0};
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signed short gyr_data_buf[3] = {0};
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signed short acc_gyro_input[6] = {0};
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float Angle_output[3] = {0};
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// xlog("============start\n");
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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BLE_send_data = sensor_processing_task(acc_data_buf, gyr_data_buf);
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u8 data[50];
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data[0] = 0xBB;
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data[1] = 0xBE;
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data[2] = 0x01;
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data[3] = sizeof(BLE_send_data_t); //后续包的数据长度
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// send_data_to_ble_client(&data,sizeof(BLE_send_data_t)+4);
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memcpy(&data[4], &BLE_send_data, sizeof(BLE_send_data_t));
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static int count = 0;
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if(count >=10){
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count = 0;
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char* division = "==========\n";
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send_data_to_ble_client(division,strlen(division));
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char log_buffer[100]; // 100个字符应该足够了
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// 使用 snprintf 进行格式化
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int num_chars_written = snprintf(
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log_buffer, // 目标缓冲区
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sizeof(log_buffer), // 目标缓冲区的最大容量
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"s %d, %dcm/s, %dcm\n", // 格式化字符串
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BLE_send_data.skiing_state, // 第一个 %d 的参数
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BLE_send_data.speed_cms, // 第二个 %d 的参数
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BLE_send_data.distance_cm // 第三个 %d 的参数
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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extern BLE_KS_send_data_t KS_data;
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"Acc:%d, %d, %d\n",
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KS_data.acc_KS[0],KS_data.acc_KS[1],KS_data.acc_KS[2]
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); // cm/s^2
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"Gyr_dps:%d, %d, %d\n",
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KS_data.gyr_KS_dps[0],
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KS_data.gyr_KS_dps[1],
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KS_data.gyr_KS_dps[2]
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"angle: %d, %d, %d\n",
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KS_data.angle_KS[0],
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KS_data.angle_KS[1],
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KS_data.angle_KS[2]
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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extern debug_t debug1;
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extern debug_t debug2;
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"debug:%.2f,%.2f,%.2f(%.2f),%.2f\n",
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debug1.acc_variance,
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debug1.gyr_variance,
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debug1.acc_magnitude,
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debug2.acc_magnitude, //滤波后的加速度
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debug1.gyr_magnitude
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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xlog("Call interval\n");
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}
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count++;
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memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
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memset(&data, 0, 50);
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// xlog("end============\n");
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}
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#endif
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#define SENSOR_DATA_BUFFER_SIZE 500 // 定义缓冲区可以存储100个sensor_data_t元素
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static circle_buffer_t sensor_read; // 环形缓冲区管理结构体
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typedef struct {
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signed short acc_data[3];
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signed short gyr_data[3];
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float angle[3]; //pitch roll yaw
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float quaternion_output[4]; //四元数数据
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} sensor_data_t;
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static sensor_data_t sensor_read_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放sensor读到的数据
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static circle_buffer_t sensor_send; // 环形缓冲区管理结构体
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static BLE_send_data_t sensor_send_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放ble要发送的数据
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static u8 mutex1 = 0;
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static u8 mutex2 = 0;
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static int count_test1 = 0;
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static int count_test2 = 0;
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/**
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* @brief //读取传感器的数据放进缓冲区
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*
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*/
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void sensor_read_data(){
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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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if(circle_buffer_is_full(&sensor_read)){
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// xlog("sensor_read_data: read buffer full\n");
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return;
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}
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static sensor_data_t tmp;
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SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_data);
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// xlog("=======sensor_read_data middle 1\n");
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memcpy(&combined_raw_data[0], tmp.acc_data, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], tmp.gyr_data, 3 * sizeof(signed short));
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if (!calibration_done) { //第1次启动，开启零漂检测
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// status = SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// status = SIX_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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// status = Original_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle, 0);
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status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, tmp.angle,NULL, 0, tmp.quaternion_output);
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if(count > 100){
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count = 0;
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char log_buffer[100]; // 100个字符应该足够了
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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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}
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count++;
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if (status == 1) {
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calibration_done = 1;
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printf("Sensor calibration successful! Skiing mode is active.\n");
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}
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} else {
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// printf("Calculate the time interval =============== start\n");
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// status = SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// status = SIX_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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// status = Original_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle, 0);
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status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, tmp.angle,NULL, 0, tmp.quaternion_output);
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memcpy(tmp.acc_data, &combined_raw_data[0], 3 * sizeof(signed short));
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memcpy(tmp.gyr_data, &combined_raw_data[3], 3 * sizeof(signed short));
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if(mutex1 == 0){
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mutex1 = 1;
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// count_test1++;
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// xlog("count_test_1: %d\n",count_test1);
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circle_buffer_write(&sensor_read, &tmp);
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mutex1 = 0;
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}
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extern void ano_send_attitude_data(float rol, float pit, float yaw, uint8_t fusion_sta) ;
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ano_send_attitude_data(tmp.angle[0],tmp.angle[1],tmp.angle[2], 1);
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}
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// xlog("=======sensor_read_data END\n");
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}
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void calculate_data(){
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// xlog("=======start\n");
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sensor_data_t tmp;
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if(circle_buffer_is_empty(&sensor_read)){
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// xlog("sensor_read_buffer: read buffer empty\n");
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return;
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}
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if(mutex1 == 0){
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mutex1 = 1;
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circle_buffer_read(&sensor_read, &tmp);
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mutex1 = 0;
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}else{
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return;
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}
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BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle,tmp.quaternion_output);
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if(circle_buffer_is_full(&sensor_send))
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return;
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if(mutex2 == 0){
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mutex2 = 1;
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circle_buffer_write(&sensor_send, &data_by_calculate);
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mutex2 = 0;
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}
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// extern void BLE_send_data();
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// BLE_send_data();
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// xlog("=======end\n");
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}
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extern char xt_Check_Flag;
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void BLE_send_data(){
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// xlog("=======start\n");
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if(circle_buffer_is_empty(&sensor_send)){
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// xlog("sensor_send_buffer: send buffer empty\n");
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return;
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}
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#ifdef XTELL_TEST
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// #if 0
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BLE_send_data_t tmp;
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if(mutex2 == 0){
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mutex2 = 1;
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circle_buffer_read(&sensor_send, &tmp);
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mutex2 = 0;
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}else{
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return;
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}
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if(count >=100){
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// extern debug_t debug2;
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// xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
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// xlog("Acc:%d, %d, %d\n",tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);
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// xlog("Gyr:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);
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// xlog("debug2.acc_magnitude:%.2f\n", debug2.acc_magnitude);
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int num_chars_written;
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count = 0;
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char* division = "==========\n";
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send_data_to_ble_client(division,strlen(division));
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char log_buffer[100]; // 100个字符应该足够了
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// extern char iic_read_len;
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// extern char iic_write_result;
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// 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);
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// send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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memset(&log_buffer, 0, 100);
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#if 1
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// 使用 snprintf 进行格式化
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num_chars_written = snprintf(
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log_buffer, // 目标缓冲区
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sizeof(log_buffer), // 目标缓冲区的最大容量
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"s %d, %dcm/s, %dcm\n", // 格式化字符串
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tmp.skiing_state, // 第一个 %d 的参数
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tmp.speed_cms, // 第二个 %d 的参数
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tmp.distance_cm // 第三个 %d 的参数
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);
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send_data_to_ble_client(&log_buffer, strlen(log_buffer));
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"Acc:%d, %d, %d\n",
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tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"Gyr:%d, %d, %d\n",
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tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"Angle:%.1f, %.1f, %1.f\n",
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tmp.angle_data[0],tmp.angle_data[1],tmp.angle_data[2]
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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#endif
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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;
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memset(&log_buffer, 0, 100);
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num_chars_written = snprintf(
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log_buffer,
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sizeof(log_buffer),
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"acc_cm/s^2:%d\n",
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acc_mo_cms
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);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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// xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
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// xlog("Acc:%d, %d, %d\n", tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);
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// xlog("GYR:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);
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}
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count++;
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// xlog("=======end\n");
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#else
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#endif
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}
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//iic测试调用的
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#if 0
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static u16 xt_iic_test_id;
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char log_buffer_1[100];
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extern char sen_log_buffer_1[100];
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extern char sen_log_buffer_2[100];
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extern char sen_log_buffer_3[100];
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extern char sen_log_buffer_4[100];
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extern char sen_log_buffer_5[100];
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extern char w_log_buffer_1[100];
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extern char w_log_buffer_2[100];
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extern char w_log_buffer_3[100];
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extern char w_log_buffer_4[100];
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extern char w_log_buffer_5[100];
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void xt_iic_test(){
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char log_buffer[100];
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send_data_to_ble_client(&log_buffer_1,strlen(log_buffer_1));
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extern char iic_read_len;
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extern char iic_write_result;
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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);
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extern void send_data_to_ble_client(const u8* data, u16 length);
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send_data_to_ble_client(&log_buffer,strlen(log_buffer));
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if(sen_log_buffer_1 != NULL)
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send_data_to_ble_client(&sen_log_buffer_1,strlen(sen_log_buffer_1));
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if(sen_log_buffer_2 != NULL)
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send_data_to_ble_client(&sen_log_buffer_2,strlen(sen_log_buffer_2));
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if(sen_log_buffer_3 != NULL)
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send_data_to_ble_client(&sen_log_buffer_3,strlen(sen_log_buffer_3));
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if(sen_log_buffer_4 != NULL)
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send_data_to_ble_client(&sen_log_buffer_4,strlen(sen_log_buffer_4));
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if(sen_log_buffer_5 != NULL)
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send_data_to_ble_client(&sen_log_buffer_5,strlen(sen_log_buffer_5));
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if(w_log_buffer_1 != NULL)
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send_data_to_ble_client(&w_log_buffer_1,strlen(w_log_buffer_1));
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if(w_log_buffer_2 != NULL)
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send_data_to_ble_client(&w_log_buffer_2,strlen(w_log_buffer_2));
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if(w_log_buffer_3 != NULL)
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send_data_to_ble_client(&w_log_buffer_3,strlen(w_log_buffer_3));
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if(w_log_buffer_4 != NULL)
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send_data_to_ble_client(&w_log_buffer_4,strlen(w_log_buffer_4));
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if(w_log_buffer_5 != NULL)
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send_data_to_ble_client(&w_log_buffer_5,strlen(w_log_buffer_5));
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||
// 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){
|
||
// 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));
|
||
|
||
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);
|
||
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];
|
||
// 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);
|
||
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));
|
||
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);
|
||
}
|
||
|
||
// 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");
|
||
}
|
||
|
||
|
||
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
|
||
int ret = soft_iic_init(0);
|
||
int num_chars_written = snprintf(log_buffer_1, sizeof(log_buffer_1),"init iic: %d\n", ret);
|
||
|
||
#endif
|
||
|
||
|
||
// 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();
|
||
|
||
|
||
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));
|
||
|
||
|
||
|
||
|
||
|
||
// 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
|
||
|
||
}
|