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Update project

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Admin
2026-03-02 11:38:36 +08:00
parent 439618888c
commit aa57e8192d
4 changed files with 133 additions and 87 deletions
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33
git.bat Normal file
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@@ -0,0 +1,33 @@
@echo off
chcp 65001 >nul
echo ========================================
echo Git 上传脚本 - Rader_Success_5
echo ========================================
echo.
set GIT_PATH="C:\Program Files\Git\bin\git.exe"
set REMOTE_URL=http://lmhrt.cn:6771/ming/Rader_IQ
echo [1/5] 检查 Git 状态...
%GIT_PATH% status
echo.
echo [2/5] 添加所有文件到暂存区...
%GIT_PATH% add -A
echo.
echo [3/5] 提交更改...
set /p commit_msg="请输入提交信息 (默认: Update project): "
if "%commit_msg%"=="" set commit_msg=Update project
%GIT_PATH% commit -m "%commit_msg%"
echo.
echo [4/5] 推送到远程仓库...
%GIT_PATH% push
echo.
echo ========================================
echo 上传完成！
echo ========================================
echo.
pause

39
src/main.cpp
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@@ -6,59 +6,42 @@
#include "radar_vitals.h" #include "radar_vitals.h"
#include "io_flash.h" #include "io_flash.h"
static float I_buf[BASE_DATA_LEN];
static float Q_buf[BASE_DATA_LEN];
// 全局变量声明
/**
* @brief 雷达数据采集任务
* 定期读取ADC数据并调用radar_vitals_process()处理数据
* @param parameter 任务参数（未使用）
*/
void radarDataTask(void *parameter) { void radarDataTask(void *parameter) {
Serial.println("📡 雷达数据采集任务启动"); Serial.println("📡 雷达数据采集任务启动");
radar_sample_t sample; radar_sample_t sample;
radar_vitals_t vitals; radar_vitals_t vitals;
float I_buf[DATA_LEN];
float Q_buf[DATA_LEN];
while(1) { while(1) {
// 采集DATA_LEN个样本 for(int i = 0; i < BASE_DATA_LEN; i++) {
for(int i=0; i<DATA_LEN; i++) { sample.i_value = adc1_get_raw(ADC1_CHANNEL_0);
// 读取ADC值 sample.q_value = adc1_get_raw(ADC1_CHANNEL_1);
sample.i_value = adc1_get_raw(ADC1_CHANNEL_0); // PIN_I (GPIO1) 对应 ADC1_CHANNEL_0
sample.q_value = adc1_get_raw(ADC1_CHANNEL_1); // PIN_Q (GPIO2) 对应 ADC1_CHANNEL_1
sample.timestamp = millis(); sample.timestamp = millis();
// 转换为电压并存储
I_buf[i] = (sample.i_value / 4095.0f) * 3.3f; I_buf[i] = (sample.i_value / 4095.0f) * 3.3f;
Q_buf[i] = (sample.q_value / 4095.0f) * 3.3f; Q_buf[i] = (sample.q_value / 4095.0f) * 3.3f;
// 延时以达到采样率 vTaskDelay(1000 / BASE_SAMPLE_RATE / portTICK_PERIOD_MS);
vTaskDelay(1000 / SAMPLE_RATE / portTICK_PERIOD_MS);
} }
// 计算IQ电压平均值
float avgI = 0, avgQ = 0; float avgI = 0, avgQ = 0;
for(int i=0; i<DATA_LEN; i++) { for(int i = 0; i < BASE_DATA_LEN; i++) {
avgI += I_buf[i]; avgI += I_buf[i];
avgQ += Q_buf[i]; avgQ += Q_buf[i];
} }
avgI /= DATA_LEN; avgI /= BASE_DATA_LEN;
avgQ /= DATA_LEN; avgQ /= BASE_DATA_LEN;
// 使用新的处理方法 radar_process(I_buf, Q_buf, BASE_DATA_LEN);
radar_process(I_buf, Q_buf, DATA_LEN);
// 获取人体状态
human_state_t state = radar_get_state(); human_state_t state = radar_get_state();
// 统一打印所有状态信息
if (state == NO_PERSON) { if (state == NO_PERSON) {
Serial.printf("👤 No person - IQ电压: I=%.3fV, Q=%.3fV\n", avgI, avgQ); Serial.printf("👤 No person - IQ电压: I=%.3fV, Q=%.3fV\n", avgI, avgQ);
} else { } else {
// 打印静止状态、IQ电压和心率呼吸率
Serial.printf("👤 Human static - IQ电压: I=%.3fV, Q=%.3fV - 💓 心率: %.1f BPM, 呼吸: %.1f BPM\n", avgI, avgQ, radar_get_heart_bpm(), radar_get_resp_bpm()); Serial.printf("👤 Human static - IQ电压: I=%.3fV, Q=%.3fV - 💓 心率: %.1f BPM, 呼吸: %.1f BPM\n", avgI, avgQ, radar_get_heart_bpm(), radar_get_resp_bpm());
} }
@@ -86,7 +69,7 @@ void setup() {
xTaskCreatePinnedToCore( xTaskCreatePinnedToCore(
radarDataTask, radarDataTask,
"Radar Data Task", "Radar Data Task",
8192, 32768,
NULL, NULL,
4, 4,
NULL, NULL,

108
src/radar_vitals.cpp
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@@ -6,23 +6,43 @@
#define ADC_MAX 4095.0f #define ADC_MAX 4095.0f
#define VREF 3.3f #define VREF 3.3f
#define TWO_PI 6.2831853f #define TWO_PI 6.2831853f
#define RADAR_LAMBDA 0.0125f // 24GHz 波长（米） #define RADAR_LAMBDA 0.0125f
/******** 内部状态 ********/ /******** 内部状态 ********/
static float fs = 20.0f; static float fs = BASE_SAMPLE_RATE;
// 状态变量 // 状态变量
static float phase[DATA_LEN]; static float phase[BASE_DATA_LEN];
static float unwrap_phase[DATA_LEN]; static float unwrap_phase[BASE_DATA_LEN];
static human_state_t human_state = NO_PERSON; static human_state_t human_state = NO_PERSON;
static float resp_bpm = 0; static float resp_bpm = 0;
static float heart_bpm = 0; static float heart_bpm = 0;
// 平滑处理相关变量 // 平滑处理相关变量
static float resp_bpm_history[10] = {0}; static float resp_bpm_history[5] = {0};
static float heart_bpm_history[10] = {0}; static float heart_bpm_history[5] = {0};
static int history_index = 0; static int history_index = 0;
// 降采样缓冲区
static float resp_phase[RESP_DATA_LEN];
static float hr_phase[HR_DATA_LEN];
// 简单低通滤波器
static float lowpass_filter(float input, float *state, float alpha) {
*state = alpha * input + (1.0f - alpha) * *state;
return *state;
}
// 降采样函数
void downsample(float *input, float *output, int input_len, int output_len) {
float ratio = (float)input_len / output_len;
for(int i = 0; i < output_len; i++) {
int idx = (int)(i * ratio);
if(idx >= input_len) idx = input_len - 1;
output[i] = input[idx];
}
}
@@ -32,6 +52,8 @@ static int history_index = 0;
/******** 新的雷达处理函数 ********/ /******** 新的雷达处理函数 ********/
void radar_process(float *I, float *Q, int len) void radar_process(float *I, float *Q, int len)
{ {
if(len > BASE_DATA_LEN) len = BASE_DATA_LEN;
/* 1. 去直流 (DC Removal) /* 1. 去直流 (DC Removal)
* I'(n) = I(n) - mean(I) * I'(n) = I(n) - mean(I)
* Q'(n) = Q(n) - mean(Q) * Q'(n) = Q(n) - mean(Q)
@@ -92,61 +114,66 @@ void radar_process(float *I, float *Q, int len)
human_state = STATIC_HUMAN; human_state = STATIC_HUMAN;
} }
/* 6. 呼吸 / 心率频率估计 /* 6. 降采样处理 */
* 方法：频段能量最大值搜索（简化 DFT） downsample(unwrap_phase, resp_phase, len, RESP_DATA_LEN);
* Fs_eff = SAMPLE_RATE / decimation downsample(unwrap_phase, hr_phase, len, HR_DATA_LEN);
*/
const float Fs_eff = 200.0f; // 4kHz / 20
// ---- 呼吸：0.1 ~ 0.5 Hz ---- /* 7. 呼吸频率估计 (0.1 ~ 0.5 Hz) */
float max_resp_mag = 0; float resp_freq = 0; float max_resp_mag = 0;
for(float f=0.1f; f<=0.5f; f+=0.02f){ float resp_freq = 0;
for(float f = 0.1f; f <= 0.6f; f += 0.002f) {
float re = 0, im = 0; float re = 0, im = 0;
for(int n=0;n<len;n++){ for(int n = 0; n < RESP_DATA_LEN; n++) {
float ang = 2*M_PI*f*n/Fs_eff; float ang = 2 * M_PI * f * n / RESP_SAMPLE_RATE;
re += unwrap_phase[n]*cosf(ang); re += resp_phase[n] * cosf(ang);
im -= unwrap_phase[n]*sinf(ang); im -= resp_phase[n] * sinf(ang);
} }
float mag = re * re + im * im; float mag = re * re + im * im;
if(mag > max_resp_mag){ max_resp_mag = mag; resp_freq = f; } if(mag > max_resp_mag) {
max_resp_mag = mag;
resp_freq = f;
}
} }
float new_resp_bpm = resp_freq * 60.0f; float new_resp_bpm = resp_freq * 60.0f;
// ---- 心率：0.8 ~ 2.5 Hz ---- /* 8. 心率频率估计 (0.8 ~ 2.5 Hz) */
float max_hr_mag = 0; float hr_freq = 0; float max_hr_mag = 0;
for(float f=0.8f; f<=2.5f; f+=0.05f){ float hr_freq = 0;
for(float f = 0.6f; f <= 3.0f; f += 0.01f) {
float re = 0, im = 0; float re = 0, im = 0;
for(int n=0;n<len;n++){ for(int n = 0; n < HR_DATA_LEN; n++) {
float ang = 2*M_PI*f*n/Fs_eff; float ang = 2 * M_PI * f * n / HR_SAMPLE_RATE;
re += unwrap_phase[n]*cosf(ang); re += hr_phase[n] * cosf(ang);
im -= unwrap_phase[n]*sinf(ang); im -= hr_phase[n] * sinf(ang);
} }
float mag = re * re + im * im; float mag = re * re + im * im;
if(mag > max_hr_mag){ max_hr_mag = mag; hr_freq = f; } if(mag > max_hr_mag) {
max_hr_mag = mag;
hr_freq = f;
}
} }
float new_heart_bpm = hr_freq * 60.0f; float new_heart_bpm = hr_freq * 60.0f;
// 异常值检测和过滤 // 异常值检测和过滤
if(new_heart_bpm < 40 || new_heart_bpm > 180) { if(new_heart_bpm < 40 || new_heart_bpm > 180) {
new_heart_bpm = heart_bpm; // 使用上次值 new_heart_bpm = heart_bpm;
} }
if(new_resp_bpm < 4 || new_resp_bpm > 40) { if(new_resp_bpm < 4 || new_resp_bpm > 40) {
new_resp_bpm = resp_bpm; // 使用上次值 new_resp_bpm = resp_bpm;
} }
// 移动平均滤波 // 移动平均滤波
heart_bpm_history[history_index] = new_heart_bpm; heart_bpm_history[history_index] = new_heart_bpm;
resp_bpm_history[history_index] = new_resp_bpm; resp_bpm_history[history_index] = new_resp_bpm;
history_index = (history_index + 1) % 10; history_index = (history_index + 1) % 5;
// 计算平均值
float sum_hr = 0, sum_resp = 0; float sum_hr = 0, sum_resp = 0;
for(int i=0; i<10; i++){ for(int i = 0; i < 5; i++) {
sum_hr += heart_bpm_history[i]; sum_hr += heart_bpm_history[i];
sum_resp += resp_bpm_history[i]; sum_resp += resp_bpm_history[i];
} }
heart_bpm = sum_hr / 10.0f; heart_bpm = sum_hr / 5.0f;
resp_bpm = sum_resp / 10.0f; resp_bpm = sum_resp / 5.0f;
// 四舍五入到最接近的整数 // 四舍五入到最接近的整数
heart_bpm = roundf(heart_bpm); heart_bpm = roundf(heart_bpm);
@@ -166,13 +193,12 @@ float radar_get_heart_bpm(){ return heart_bpm; }
/******** 初始化 ********/ /******** 初始化 ********/
void radar_vitals_init(float fs_hz) void radar_vitals_init(float fs_hz)
{ {
fs = fs_hz; fs = BASE_SAMPLE_RATE;
human_state = NO_PERSON; human_state = NO_PERSON;
resp_bpm = 0; resp_bpm = 0;
heart_bpm = 0; heart_bpm = 0;
// 初始化历史数据数组 for(int i = 0; i < 5; i++) {
for(int i=0; i<10; i++){
resp_bpm_history[i] = 0; resp_bpm_history[i] = 0;
heart_bpm_history[i] = 0; heart_bpm_history[i] = 0;
} }
@@ -184,17 +210,15 @@ void radar_vitals_init(float fs_hz)
* 初始化雷达相关的ADC和引脚 * 初始化雷达相关的ADC和引脚
*/ */
void radar_init() { void radar_init() {
// 配置雷达I/Q引脚为ADC输入
pinMode(PIN_I, INPUT); pinMode(PIN_I, INPUT);
pinMode(PIN_Q, INPUT); pinMode(PIN_Q, INPUT);
// 初始化ADC
adc1_config_width(ADC_WIDTH_BIT_12); adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(ADC1_CHANNEL_0, ADC_ATTEN_DB_12); // PIN_I (GPIO1) 对应 ADC1_CHANNEL_0 adc1_config_channel_atten(ADC1_CHANNEL_0, ADC_ATTEN_DB_12);
adc1_config_channel_atten(ADC1_CHANNEL_1, ADC_ATTEN_DB_12); // PIN_Q (GPIO2) 对应 ADC1_CHANNEL_1 adc1_config_channel_atten(ADC1_CHANNEL_1, ADC_ATTEN_DB_12);
Serial.println("🏗️ 初始化雷达管理器..."); Serial.println("🏗️ 初始化雷达管理器...");
radar_vitals_init(SAMPLE_RATE); radar_vitals_init(BASE_SAMPLE_RATE);
} }

10
src/radar_vitals.h
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@@ -11,8 +11,14 @@
#define SAMPLE_RATE 4000 // 基础采样率(Hz) #define BASE_SAMPLE_RATE 200 // 基础采样率(Hz)
#define DATA_LEN 256 // 数据长度 #define BASE_DATA_LEN 1024 // 基础数据长度 (5.12秒)
#define RESP_SAMPLE_RATE 10 // 呼吸处理采样率(Hz) - 2倍呼吸频率上限
#define HR_SAMPLE_RATE 50 // 心率处理采样率(Hz) - 2倍心率频率上限
#define RESP_DATA_LEN 51 // 呼吸处理数据长度 (5.1秒)
#define HR_DATA_LEN 256 // 心率处理数据长度 (5.12秒)
// 人体状态枚举 // 人体状态枚举
typedef enum { typedef enum {