diff --git a/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c b/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c
index 348d962..ecfcf81 100644
--- a/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c
+++ b/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c
@@ -707,11 +707,8 @@ static int att_write_callback(hci_con_handle_t connection_handle, uint16_t att_h
     u16 handle = att_handle;
 
     log_info("write_callback, handle= 0x%04x,size = %d\n", handle, buffer_size);
-    if(buffer[0] == 0xbe && buffer[1] == 0xbb){
-        extern void test_func(void);
-        test_func();
-    }
-    
+    extern void le_user_app_event(u8* buffer);
+    le_user_app_event(buffer);
 
     switch (handle) {
 
diff --git a/apps/earphone/board/br28/board_jl701n_demo_cfg.h b/apps/earphone/board/br28/board_jl701n_demo_cfg.h
index ed7b19a..09398ad 100644
--- a/apps/earphone/board/br28/board_jl701n_demo_cfg.h
+++ b/apps/earphone/board/br28/board_jl701n_demo_cfg.h
@@ -25,8 +25,8 @@
 // #define TCFG_UART0_ENABLE					0                     //串口打印模块使能
 #define TCFG_UART0_RX_PORT					NO_CONFIG_PORT                         //串口接收脚配置（用于打印可以选择NO_CONFIG_PORT）
 #define TCFG_UART0_TX_PORT  				IO_PORT_DP                             //串口发送脚配置
-// #define TCFG_UART0_BAUDRATE  				1000000                                //串口波特率配置
-#define TCFG_UART0_BAUDRATE  				115200                                //串口波特率配置
+#define TCFG_UART0_BAUDRATE  				1000000                                //串口波特率配置
+// #define TCFG_UART0_BAUDRATE  				115200                                //串口波特率配置
 
 //*********************************************************************************//
 //                                 IIC配置                                        //
diff --git a/apps/earphone/xtell_Sensor/buffer/circle_buffer.c b/apps/earphone/xtell_Sensor/buffer/circle_buffer.c
index 1b5bbaf..77759fd 100644
--- a/apps/earphone/xtell_Sensor/buffer/circle_buffer.c
+++ b/apps/earphone/xtell_Sensor/buffer/circle_buffer.c
@@ -9,11 +9,19 @@ void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 ele
     cb->head = 0;
     cb->tail = 0;
     cb->size = 0;
+    os_mutex_create(&cb->mutex);
+}
+
+// 销毁环形缓冲区
+void circle_buffer_deinit(circle_buffer_t *cb) {
+    os_mutex_del(&cb->mutex, 0);
 }
 
 // 向环形缓冲区写入一个元素
 bool circle_buffer_write(circle_buffer_t *cb, const void *element) {
+    os_mutex_pend(&cb->mutex, 0);
     if (circle_buffer_is_full(cb)) {
+        os_mutex_post(&cb->mutex);
         return false; // 缓冲区已满
     }
 
@@ -22,12 +30,15 @@ bool circle_buffer_write(circle_buffer_t *cb, const void *element) {
 
     cb->head = (cb->head + 1) % cb->capacity;
     cb->size++;
+    os_mutex_post(&cb->mutex);
     return true;
 }
 
 // 从环形缓冲区读取一个元素
 bool circle_buffer_read(circle_buffer_t *cb, void *element) {
+    os_mutex_pend(&cb->mutex, 0);
     if (circle_buffer_is_empty(cb)) {
+        os_mutex_post(&cb->mutex);
         return false; // 缓冲区为空
     }
 
@@ -36,25 +47,38 @@ bool circle_buffer_read(circle_buffer_t *cb, void *element) {
 
     cb->tail = (cb->tail + 1) % cb->capacity;
     cb->size--;
+    os_mutex_post(&cb->mutex);
     return true;
 }
 
 // 获取已用空间的大小（以元素为单位）
 u16 circle_buffer_get_size(circle_buffer_t *cb) {
-    return cb->size;
+    os_mutex_pend(&cb->mutex, 0);
+    u16 size = cb->size;
+    os_mutex_post(&cb->mutex);
+    return size;
 }
 
 // 获取剩余空间的大小（以元素为单位）
 u16 circle_buffer_get_free_space(circle_buffer_t *cb) {
-    return cb->capacity - cb->size;
+    os_mutex_pend(&cb->mutex, 0);
+    u16 free_space = cb->capacity - cb->size;
+    os_mutex_post(&cb->mutex);
+    return free_space;
 }
 
 // 检查缓冲区是否已满
 bool circle_buffer_is_full(circle_buffer_t *cb) {
-    return cb->size == cb->capacity;
+    os_mutex_pend(&cb->mutex, 0);
+    bool is_full = (cb->size == cb->capacity);
+    os_mutex_post(&cb->mutex);
+    return is_full;
 }
 
 // 检查缓冲区是否为空
 bool circle_buffer_is_empty(circle_buffer_t *cb) {
-    return cb->size == 0;
+    os_mutex_pend(&cb->mutex, 0);
+    bool is_empty = (cb->size == 0);
+    os_mutex_post(&cb->mutex);
+    return is_empty;
 }
\ No newline at end of file
diff --git a/apps/earphone/xtell_Sensor/buffer/circle_buffer.h b/apps/earphone/xtell_Sensor/buffer/circle_buffer.h
index fdaf179..7780984 100644
--- a/apps/earphone/xtell_Sensor/buffer/circle_buffer.h
+++ b/apps/earphone/xtell_Sensor/buffer/circle_buffer.h
@@ -2,6 +2,7 @@
 #define CIRCLE_BUFFER_H
 
 #include "system/includes.h"
+#include "os/os_api.h"
 
 // 定义环形缓冲区的结构体
 typedef struct {
@@ -11,6 +12,7 @@ typedef struct {
     u16 head;           // 头部指针（写入位置，以元素为单位）
     u16 tail;           // 尾部指针（读取位置，以元素为单位）
     u16 size;           // 当前已用大小（以元素为单位）
+    OS_MUTEX mutex;       // 用于保护缓冲区的互斥锁
 } circle_buffer_t;
 
 /**
@@ -22,6 +24,12 @@ typedef struct {
  */
 void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 element_size);
 
+/**
+ * @brief 销毁环形缓冲区，释放相关资源
+ * @param cb 指向环形缓冲区结构体的指针
+ */
+void circle_buffer_deinit(circle_buffer_t *cb);
+
 /**
  * @brief 向环形缓冲区写入一个元素
  * @param cb 指向环形缓冲区结构体的指针
diff --git a/apps/earphone/xtell_Sensor/send_data.c b/apps/earphone/xtell_Sensor/send_data.c
index 34e9b68..523b397 100644
--- a/apps/earphone/xtell_Sensor/send_data.c
+++ b/apps/earphone/xtell_Sensor/send_data.c
@@ -42,7 +42,10 @@
     #define xlog(format, ...) ((void)0)
 #endif
 
-#define SENSOR_DATA_BUFFER_SIZE 1000 // 定义缓冲区可以存储XXX个sensor_data_t元素
+#define SENSOR_DATA_BUFFER_SIZE 200 // 定义缓冲区可以存储XXX个sensor_data_t元素
+
+#define MPU_FIFO_INTERVAL 4  //隔多久读取六轴fifo，单位10ms
+#define MPU_FIFO_LEN    16 //(MPU_FIFO_INTERVAL*10/2.5)  //400hz采用频率，那每40ms的时间，fifo就有16组六轴数据
 
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
@@ -52,7 +55,6 @@
 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);
-void start_collect_fuc(void);
 void BLE_send_fuc(void);
 //END -- 函数定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
@@ -62,35 +64,26 @@ void BLE_send_fuc(void);
 //START -- 变量定义
 static u32 timer_offset_ms = 0;
 
-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 --
-    int16_t temperature; 
-    uint32_t pressure; 
-    // -- 左/右腿 --
-    uint8_t foot_state;  //1：左脚；2：右脚
-    // -- 时间 --
-    u32 timestamp_ms; 
+typedef struct{
+    signed short SC7U22_data[6];   //12字节
+    int mmc5603nj_buffer[3];   //12字节
+    int16_t temperature; //2
+    uint32_t pressure; //4
+}sensor_package_t __attribute__((packed));
 
-} BLE_send_data_t;
-
-static int count = 0;
+typedef struct{
+    uint8_t checkout_1;
+    uint8_t checkout_2;  
+    uint8_t index;    
+    sensor_package_t sensor_package[MPU_FIFO_LEN];//一次蓝牙发送MPU_FIFO_LEN组传感器数据
+}ble_send_data_t;  //一次蓝牙发送的数据内容
 
 // --- 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];
+static circle_buffer_t g_ble_send_cb; // 环形缓冲区管理结构体
+static ble_send_data_t g_sensor_data_storage[SENSOR_DATA_BUFFER_SIZE];  //缓冲区
 
-// -- 任务id --
-u16 SC7U22_calibration_id;
-u16 start_collect_fuc_id;
-u16 BLE_send_fuc_id;
-static u8 stop_ble_send_fuc_id;
 
+static OS_SEM receiver_ready_sem; // 用于启动同步的信号量
 //END -- 变量定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -106,110 +99,154 @@ u32 get_ms_timer(void) {
     return sys_timer_get_ms() - timer_offset_ms;
 }
 
-// ----------------------------------------------------------------------------------------------------------------
-// --------------------------------------------定时器回调函数----------------------------------------------------------
-/**
- * @brief 六轴静态校准
- * 
- */
-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 calibration_done = 0;
-    char status = 0;
-    static first_set_flag = 0;
-    if(first_set_flag == 0){
-        first_set_flag = 1;
-        set_SC7U22_Error_Flag(0);
-    }
-    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(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);
-    }
-    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]);
-        uint8_t send[5] = {0xBB, 0xBE, 0x02, 0x00, 0x12};
-        send_data_to_ble_client(&send,5);  //正在校验中
-    }
-    count++;
-}
 
 /**
- * @brief 开始采集传感器数据和计算速度
+ * @brief 传感器采集任务
  * 
  */
-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;
-    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];
-
+void sensor_collect_task(void){
+    ble_send_data_t send_data;
+    mmc5603nj_mag_data_t mmc5603nj_buffer;
     float temperature = 0;
     float pressure = 0;
+    int interval = 0;
+    signed short accx_buf[100];
+    signed short accy_buf[100];
+    signed short accz_buf[100];
+    signed short gyrx_buf[100];
+    signed short gyry_buf[100];
+    signed short gyrz_buf[100];
+    int fifo_num = 0;
+    u8 index = 1;
 
-    // -- 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);
-    bmp280_read_data(&temperature, &pressure);
+    while(1){//4组地磁数据、16组六轴数据、1组气压计数据
+        interval++;
+        mmc5603nj_read_mag_data(&mmc5603nj_buffer);
+        for(int i = (interval-1)*4; i < interval*4; i++){
+            send_data.sensor_package[i].mmc5603nj_buffer[0] = (int32_t)(mmc5603nj_buffer.x * 1000.0f);
+            send_data.sensor_package[i].mmc5603nj_buffer[1] = (int32_t)(mmc5603nj_buffer.y * 1000.0f);
+            send_data.sensor_package[i].mmc5603nj_buffer[2] = (int32_t)(mmc5603nj_buffer.z * 1000.0f);
+        }
+        // xlog("MAG x: %.2f,y: %.2f,z: %.2f\n",mmc5603nj_buffer.x,mmc5603nj_buffer.y,mmc5603nj_buffer.z);
+        if(interval >= 4){ 
+            interval = 0;
+            memset(&accx_buf, 0, sizeof(accx_buf));
+            memset(&accy_buf, 0, sizeof(accy_buf));
+            memset(&accz_buf, 0, sizeof(accz_buf));
+            memset(&gyrx_buf, 0, sizeof(gyrx_buf));
+            memset(&gyry_buf, 0, sizeof(gyry_buf));
+            memset(&gyrz_buf, 0, sizeof(gyrz_buf));
+            fifo_num = SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //40ms一次性读取内置fifo的数据
+            bmp280_read_data(&temperature, &pressure);//每40ms读取一次
+            for(int i = 0;i<MPU_FIFO_LEN;i++){
+                send_data.sensor_package[i].SC7U22_data[0] = accx_buf[i];  //acc_x
+                send_data.sensor_package[i].SC7U22_data[1] = accy_buf[i];  //acc_y
+                send_data.sensor_package[i].SC7U22_data[2] = accz_buf[i];  //acc_z
+                send_data.sensor_package[i].SC7U22_data[3] = gyrx_buf[i];  //gyr_x
+                send_data.sensor_package[i].SC7U22_data[4] = gyry_buf[i];  //gyr_y
+                send_data.sensor_package[i].SC7U22_data[5] = gyrz_buf[i];  //gyr_z
+                send_data.sensor_package[i].temperature = (int16_t)(temperature * 1000.0f);
+                send_data.sensor_package[i].pressure = (int32_t)(pressure * 1000.0f);
 
-    memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
-    memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
+                #if 0
+                float acc_g[3];
+                float gyr_dps[3];
+                acc_g[0] =   (float)send_data.sensor_package[i].SC7U22_data[0] / 2048.0f;
+                acc_g[1] =   (float)send_data.sensor_package[i].SC7U22_data[1] / 2048.0f;
+                acc_g[2] =   (float)send_data.sensor_package[i].SC7U22_data[2] / 2048.0f;
+                gyr_dps[0] = (float)send_data.sensor_package[i].SC7U22_data[3] * 0.061f;
+                gyr_dps[1] = (float)send_data.sensor_package[i].SC7U22_data[4] * 0.061f;
+                gyr_dps[2] = (float)send_data.sensor_package[i].SC7U22_data[5] * 0.061f;
+                printf("  ACC(g):  x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
+                printf("  GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
+                #endif
+            }
 
-    // -- 四元数 --
-    status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
+            // xlog("temperature: %.2f,pressure: %.2f\n",temperature,pressure);
+            // xlog("fifo_num:%d\n",fifo_num);
 
-    // -- 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.temperature = (int16_t)(temperature * 1000.0f);
-    BLE_send_data_tmp.pressure = (int32_t)(pressure * 1000.0f);
-    BLE_send_data_tmp.speed_cms = speed;
-    extern u8 foot_init;
-    BLE_send_data_tmp.foot_state = foot_init;
-    BLE_send_data_tmp.timestamp_ms = get_ms_timer();
+            send_data.checkout_1 = 0xBE;
+            send_data.checkout_2 = 0xBB;
+            send_data.index = index;
+            // circle_buffer_write(&g_ble_send_cb, &send_data);
+            // os_sem_post(&receiver_ready_sem); //通知另一个发送任务
 
-    // -- 放进缓冲区 --
-    if(circle_buffer_is_full(&BLE_send_buff) == 0){
-        circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
+            memset(&send_data, 0, sizeof(ble_send_data_t));
+            index++;
+            if(index >= 0xFF) index = 1;
+            // xlog("=====================%d============================\n",get_ms_timer());
+        }
+        
+        os_time_dly(1); //10ms为单位
     }
-    
-    // xlog("=======sensor_read_data END\n");
+}
 
-   
+
+static int random = 0;
+void data_log(uint8_t* data){
+    // 检查数据包头部
+    if (data[0] != 0xBE || data[1] != 0xBB) {
+        printf("Error: Invalid data packet header.\n");
+        return;
+    }
+
+    // 解析包索引
+    uint8_t index = data[2];
+    printf("--- Parsing Data Packet Index: %d ---\n", index);
+
+    uint8_t* p = &data[3]; // 指向数据负载的起始位置
+
+    // 循环解析16组数据
+    for (int i = 0; i < MPU_FIFO_LEN; i++) {
+        // 1. 解析六轴传感器数据 (12 bytes)
+        int16_t imu_raw[6];
+        for (int j = 0; j < 6; j++) {
+            // 小端模式: 低字节在前, 高字节在后
+            imu_raw[j] = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
+            p += 2;
+        }
+        float acc_g[3];
+        float gyr_dps[3];
+        acc_g[0] = (float)imu_raw[0] / 2048.0f;
+        acc_g[1] = (float)imu_raw[1] / 2048.0f;
+        acc_g[2] = (float)imu_raw[2] / 2048.0f;
+        gyr_dps[0] = (float)imu_raw[3] * 0.061f;
+        gyr_dps[1] = (float)imu_raw[4] * 0.061f;
+        gyr_dps[2] = (float)imu_raw[5] * 0.061f;
+
+        // 2. 解析地磁传感器数据 (12 bytes)
+        int32_t mag_raw[3];
+        for (int j = 0; j < 3; j++) {
+            // 小端模式
+            mag_raw[j] = (int32_t)(((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) | ((uint32_t)p[1] << 8) | (uint32_t)p[0]);
+            p += 4;
+        }
+        float mag_gauss[3];
+        mag_gauss[0] = (float)mag_raw[0] / 1000.0f;
+        mag_gauss[1] = (float)mag_raw[1] / 1000.0f;
+        mag_gauss[2] = (float)mag_raw[2] / 1000.0f;
+
+        // 3. 解析温度数据 (2 bytes)
+        int16_t temp_raw = (int16_t)(((uint16_t)p[1] << 8) | (uint16_t)p[0]);
+        p += 2;
+        float temperature = (float)temp_raw / 1000.0f;
+
+        // 4. 解析气压数据 (4 bytes)
+        uint32_t press_raw = (uint32_t)(((uint32_t)p[3] << 24) | ((uint32_t)p[2] << 16) | ((uint32_t)p[1] << 8) | (uint32_t)p[0]);
+        p += 4;
+        float pressure = (float)press_raw / 1000.0f;
+
+        // 打印解析后的数据
+        // if(i % 4 == 0){
+            printf("Package[%d]:====================\n", i);
+            // printf("  ACC(g):  x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
+            // printf("  GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
+            printf("  MAG(Gs): x=%.3f, y=%.3f, z=%.3f\n", mag_gauss[0], mag_gauss[1], mag_gauss[2]);
+            printf("  TEMP(C): %.3f, PRESS(Pa): %.3f\n", temperature, pressure);
+        // }
+        
+    }
+    printf("--- End of Packet ---\n\n");
 }
 
 /**
@@ -217,187 +254,89 @@ void start_collect_fuc(void){
  * 
  */
 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;
+    ble_send_data_t send_data;
+    uint8_t send_buffer[483];
+    while(1){   
+        os_sem_pend(&receiver_ready_sem, 0);  //阻塞等待
+        circle_buffer_read(&g_ble_send_cb, &send_data);
         
-        uint8_t imu_packet[IMU_PACKET_LEN];
+        // 逐字节打包数据到 send_buffer, 采用小端模式
+        uint8_t *p = send_buffer;
+        *p++ = send_data.checkout_1;
+        *p++ = send_data.checkout_2;
+        *p++ = send_data.index;
 
-        // 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));
-         for (int i = 0; i < 6; i++) {
-            // SC7U22_data[i] 是一个 signed short (2字节)
-            // 将其低字节放在前面
-            imu_packet[4 + i * 2]     = (uint8_t)(data_to_send.SC7U22_data[i] & 0xFF);
-            // 将其高字节放在后面
-            imu_packet[4 + i * 2 + 1] = (uint8_t)((data_to_send.SC7U22_data[i] >> 8) & 0xFF);
+        for (int i = 0; i < MPU_FIFO_LEN; i++) {
+            sensor_package_t *pkg = &send_data.sensor_package[i];
+
+            // 1. 打包六轴数据 (6 * int16_t)
+            for (int j = 0; j < 6; j++) {
+                *p++ = (uint8_t)(pkg->SC7U22_data[j] & 0xFF);
+                *p++ = (uint8_t)((pkg->SC7U22_data[j] >> 8) & 0xFF);
+            }
+
+            // 2. 打包地磁数据 (3 * int32_t)
+            for (int j = 0; j < 3; j++) {
+                *p++ = (uint8_t)(pkg->mmc5603nj_buffer[j] & 0xFF);
+                *p++ = (uint8_t)((pkg->mmc5603nj_buffer[j] >> 8) & 0xFF);
+                *p++ = (uint8_t)((pkg->mmc5603nj_buffer[j] >> 16) & 0xFF);
+                *p++ = (uint8_t)((pkg->mmc5603nj_buffer[j] >> 24) & 0xFF);
+            }
+
+            // 3. 打包温度数据 (int16_t)
+            *p++ = (uint8_t)(pkg->temperature & 0xFF);
+            *p++ = (uint8_t)((pkg->temperature >> 8) & 0xFF);
+
+            // 4. 打包气压数据 (uint32_t)
+            *p++ = (uint8_t)(pkg->pressure & 0xFF);
+            *p++ = (uint8_t)((pkg->pressure >> 8) & 0xFF);
+            *p++ = (uint8_t)((pkg->pressure >> 16) & 0xFF);
+            *p++ = (uint8_t)((pkg->pressure >> 24) & 0xFF);
+
+            #if 0
+            float acc_g[3];
+            float gyr_dps[3];
+            acc_g[0] = (float)send_data.sensor_package[i].SC7U22_data[0] / 2048.0f;
+            acc_g[1] = (float)send_data.sensor_package[i].SC7U22_data[1] / 2048.0f;
+            acc_g[2] = (float)send_data.sensor_package[i].SC7U22_data[2] / 2048.0f;
+            gyr_dps[0] = (float)send_data.sensor_package[i].SC7U22_data[3] * 0.061f;
+            gyr_dps[1] = (float)send_data.sensor_package[i].SC7U22_data[4] * 0.061f;
+            gyr_dps[2] = (float)send_data.sensor_package[i].SC7U22_data[5] * 0.061f;
+            printf("  ACC(g):  x=%.3f, y=%.3f, z=%.3f\n", acc_g[0], acc_g[1], acc_g[2]);
+            printf("  GYR(dps):x=%.3f, y=%.3f, z=%.3f\n", gyr_dps[0], gyr_dps[1], gyr_dps[2]);
+            #endif
         }
-        // xlog("imu %d\n",data_to_send.SC7U22_data[0]);
-        // xlog("imu_packet: 0x%x 0x%x 0x%x\n",imu_packet[4],imu_packet[5],imu_packet[6]);
-        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));
-        for (int i = 0; i < 9; i++) {
-            mag_packet[4 + i] = data_to_send.mmc5603nj_buffer[i];
-        }
-        // xlog("mag: 0x%x 0x%x 0x%x\n",mag_packet[4],mag_packet[5],mag_packet[6]);
-
-        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(6) = 10字节
-        const uint8_t PT_PACKET_LEN = 10;
-        const uint8_t PT_PAYLOAD_LEN = 7; // 类型(1) + 数据(6)
-        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;
         
-        // 直接发送 int16_t 的二进制补码
-        pt_packet[4] = (uint8_t)(data_to_send.temperature & 0xFF);         // 低字节
-        pt_packet[5] = (uint8_t)((data_to_send.temperature >> 8) & 0xFF);  // 高字节
-
-        // 气压 (保持不变)
-        pt_packet[6] = (uint8_t)(data_to_send.pressure & 0xFF);
-        pt_packet[7] = (uint8_t)((data_to_send.pressure >> 8) & 0xFF);
-        pt_packet[8] = (uint8_t)((data_to_send.pressure >> 16) & 0xFF);
-        pt_packet[9] = (uint8_t)((data_to_send.pressure >> 24) & 0xFF);
-        
-        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);
-    }
-
-    // --- 封装并发送数据 ---
-    {
-        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(5) = 9字节
-        const uint8_t OTHER_PACKET_LEN = 9;
-        const uint8_t OTHER_PAYLOAD_LEN = 6; // 类型(1) + 数据(5)
-        const uint8_t OTHER_TYPE = 0x05;
-
-        uint8_t oher_packet[OTHER_PACKET_LEN];
-        
-        // 填充包头
-        oher_packet[0] = 0xBB;
-        oher_packet[1] = 0xBE;
-        // 填充长度
-        oher_packet[2] = OTHER_PAYLOAD_LEN;
-        // 填充类型
-        oher_packet[3] = OTHER_TYPE;
-        
-        // 小端模式
-        oher_packet[4] = (uint8_t)data_to_send.foot_state; // 数据来源
-
-        oher_packet[5] = (uint8_t)((data_to_send.timestamp_ms >> 0) & 0xFF);  // LSB
-        oher_packet[6] = (uint8_t)((data_to_send.timestamp_ms >> 8) & 0xFF);
-        oher_packet[7] = (uint8_t)((data_to_send.timestamp_ms >> 16) & 0xFF);
-        oher_packet[8] = (uint8_t)((data_to_send.timestamp_ms >> 24) & 0xFF); // MSB
-        send_data_to_ble_client(&oher_packet, OTHER_PACKET_LEN);
+        // send_data_to_ble_client(send_buffer, 3 + sizeof(send_data.sensor_package)); // 发送数据
+        data_log(send_buffer);
     }
 }
 
-void stop_BLE_send_fuc(void){
-    if (circle_buffer_is_empty(&BLE_send_buff)) {
-        close_process(&BLE_send_fuc_id,"BLE_send_fuc");
-        close_process(&stop_ble_send_fuc_id,"stop_BLE_send_fuc");
-    } 
-}
+
+
 // ------------------------------------------------------------------------------------------------------
 // ------------------------------------------------------------------------------------------------------
 
 
-/**
- * @brief 六轴静态校验
- * 
- */
-void start_calibration(void){
-    create_process(&SC7U22_calibration_id,"SC7U22_calibration",NULL,SC7U22_static_calibration,10);
-}
-
-void stop_calibration(void){
-    close_process(&SC7U22_calibration_id, "SC7U22_calibration");
-}
 
 /**
  * @brief 开始采集传感器数据并通过ble发送
  * 
  */
 void start_clloct(void){
-    reset_ms_timer();
-    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,5);
+    os_task_create(sensor_collect_task,NULL,5,1024,32,"sensor_collect_task");
+    os_task_create(BLE_send_fuc,NULL,5,1024,32,"BLE_send_fuc");
 }
 
-
 /**
  * @brief 停止采集和ble发送
  * 
  */
 void stop_clloct(void){
-    close_process(&start_collect_fuc_id,"start_collect");
-    close_process(&BLE_send_fuc_id,"BLE_send_fuc");
-    // create_process(&stop_ble_send_fuc_id,"stop_BLE_send_fuc",NULL,stop_BLE_send_fuc,500);  //等缓冲区内容发送完，才停止ble发送任务
+    os_task_del_req("sensor_collect_task");
+    os_task_del_req("BLE_send_fuc");
 }
 
 /**
@@ -422,9 +361,9 @@ void xtell_task_create(void){
 
     xlog("xtell_task_create\n");
 
-    circle_buffer_init(&BLE_send_buff, BLE_send_data, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
-
+    circle_buffer_init(&g_ble_send_cb, g_sensor_data_storage, SENSOR_DATA_BUFFER_SIZE, sizeof(ble_send_data_t));
 
+    os_sem_create(&receiver_ready_sem, 0);
 
 }
 
@@ -434,66 +373,6 @@ void xtell_task_create(void){
 //test
 //
 
-/**
- * @brief 开始采集传感器数据和计算速度
- * 
- */
-void sensor_task(void){
-    while(1){
-        // 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;
-        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];
-
-        float temperature = 0;
-        float pressure = 0;
-
-        // -- 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);
-        bmp280_read_data(&temperature, &pressure);
-
-        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.temperature = (int16_t)(temperature * 1000.0f);
-        BLE_send_data_tmp.pressure = (int32_t)(pressure * 1000.0f);
-        BLE_send_data_tmp.speed_cms = speed;
-        extern u8 foot_init;
-        BLE_send_data_tmp.foot_state = foot_init;
-        BLE_send_data_tmp.timestamp_ms = get_ms_timer();
-
-        // -- 放进缓冲区 --
-        if(circle_buffer_is_full(&BLE_send_buff) == 0){
-            circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
-        }
-        
-        // xlog("=======sensor_read_data END\n");
-        os_time_dly(1);
-    }
-
-   
-}
 #define BUFF_LEN 500
 static signed char acc_data_buf[BUFF_LEN] = {0};
 // 1. 定义一个全局的信号量
@@ -556,6 +435,12 @@ void test_func(void){
     for(int i = 0;i<BUFF_LEN;i++){
         acc_data_buf[i] = i;
     }
-    os_task_create(data_send_task,NULL,5,1024,32,"data_send_task");
+
+    SL_SC7U22_Config();
+    mmc5603nj_init();
+    bmp280_init();
+    os_task_create(BLE_send_fuc,NULL,5,1024,32,"BLE_send_fuc");
+    os_task_create(sensor_collect_task,NULL,5,1024,32,"sensor_collect_task");
+    
     // data_send_task();
 }
\ No newline at end of file
diff --git a/apps/earphone/xtell_Sensor/sensor/BMP280.c b/apps/earphone/xtell_Sensor/sensor/BMP280.c
index e0ebca4..b251ca9 100644
--- a/apps/earphone/xtell_Sensor/sensor/BMP280.c
+++ b/apps/earphone/xtell_Sensor/sensor/BMP280.c
@@ -1,5 +1,10 @@
 /*
     气压计
+    根据手册，对于室内导航的配置推荐：
+        t_standby=0.5ms, filter=16, spi_en=0
+        osrs_t=x2, osrs_p=x16, mode=normal
+    采样率为26.3Hz，外部每40ms读取一次
+    
 */
 #include "BMP280.h"
 #include <string.h> 
diff --git a/apps/earphone/xtell_Sensor/sensor/MMC56.c b/apps/earphone/xtell_Sensor/sensor/MMC56.c
index a5276b2..ed036cc 100644
--- a/apps/earphone/xtell_Sensor/sensor/MMC56.c
+++ b/apps/earphone/xtell_Sensor/sensor/MMC56.c
@@ -1,3 +1,7 @@
+/*
+    MMC5603nj
+        1-255的采样率，这里设置为200Hz,5ms
+*/
 
 #include "MMC56.h"
 #include "math.h"
@@ -41,13 +45,15 @@ int mmc5603nj_init(void) {
 
     //  设置20位分辨率 (BW[1:0] = 11)
     //    同时确保所有轴都使能 (X/Y/Z_inhibit = 0)
+    // mmc5603nj_write_reg(MMC_INCTRL1, 0x03);
     mmc5603nj_write_reg(MMC_INCTRL1, 0x03);
     os_time_dly(1);
 
     //  设置内部控制寄存器2
     //    CMM_EN = 1 (使能连续模式功能)
-    //    HPOWER = 1 (高功耗模式，更稳定)
-    mmc5603nj_write_reg(MMC_INCTRL2, 0x90); // 0b10010000
+    //    HPOWER = 0 
+    // mmc5603nj_write_reg(MMC_INCTRL2, 0x10); // 0b00010000
+     mmc5603nj_write_reg(MMC_INCTRL2, 0x10); // 0b10010000
 
     //  设置自动SET/RESET功能
     //    AUTO_SR_EN = 1
@@ -56,7 +62,8 @@ int mmc5603nj_init(void) {
     g_continuous_mode_enabled = 0;
     printf("MMC5603NJ initialized successfully.\n");
 
-    mmc5603nj_enable_continuous_mode(0x04);
+    // mmc5603nj_enable_continuous_mode(0xC8); //200Hz的采样率，最高支持255
+    mmc5603nj_enable_continuous_mode(0xCF); 
 
     return 1;
 }
@@ -195,7 +202,7 @@ void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
         } while ((status & 0x40) == 0 && timeout > 0);
 
         if (timeout == 0) {
-            printf("Error: Magnetic measurement timeout!\n");
+            // printf("Error: Magnetic measurement timeout!\n");
             mag_data->x = mag_data->y = mag_data->z = 0.0f;
             return;
         }
diff --git a/apps/earphone/xtell_Sensor/sensor/SC7U22.c b/apps/earphone/xtell_Sensor/sensor/SC7U22.c
index b4304ac..833b623 100644
--- a/apps/earphone/xtell_Sensor/sensor/SC7U22.c
+++ b/apps/earphone/xtell_Sensor/sensor/SC7U22.c
@@ -62,7 +62,7 @@ unsigned char SL_SC7U22_I2c_Spi_Read(unsigned char sl_spi_iic, unsigned char reg
 
 static void sl_delay(unsigned char sl_i)
 {
-    os_time_dly(sl_i);
+    delay((int)sl_i);
 }
 
 char iic_read_len;
@@ -131,10 +131,12 @@ unsigned char SL_SC7U22_Config(void)
 	
 		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0x06);//ACC_CONF 0x07=50Hz 0x06=25Hz
 		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//高性能模式，连续4个数据平均1次，100Hz -- lmx
-		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xBC);//ACC_CON 高性能模式，1600Hz -- lmx
-		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xBB);//ACC_CON 高性能模式，800Hz -- lmx
+		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xBC);//ACC_CON 高性能模式，1600Hz -- lmx
+       
 
-		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//ACC_CON 高性能模式，100Hz，平均数4 -- lmx
+		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0xA8);//ACC_CON 高性能模式，100Hz，平均数4 -- lmx
+
+        SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x40, 0x8A);//ACC_CON 高性能模式，400Hz -- lmx
 
 		#if ACC_RANGE==2
 		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x41, 0x00);//ACC_RANGE  00：±2G
@@ -153,9 +155,11 @@ unsigned char SL_SC7U22_Config(void)
 		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0x8C);//GYR_CONF 1600Hz  -- lmx
 		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xAC);//GYR_CONF 1600Hz  -- lmx
 		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xAB);//GYR_CONF 800Hz  -- lmx
-		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xE8);//GYR_CONF 100Hz, 噪声优化开启,4个平均一次  -- lmx
+		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xE8);//GYR_CONF 100Hz, 噪声优化开启,4个平均一次  -- lmx
 
-		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
+        SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x42, 0xCA);//GYR_CONF 噪声优化开启,高性能模式，400Hz  -- lmx
+
+		// SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
 		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x43, 0x00);//GYR_RANGE 2000dps
 		SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x04, 0x50);//COM_CFG
 
@@ -306,7 +310,8 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
     unsigned char header[2];
 	unsigned short j;
 	
-#if SL_Sensor_Algo_Release_Enable==0x00	//user can set to zero
+// #if SL_Sensor_Algo_Release_Enable==0x00	//user can set to zero
+#if 0//lmx
 #if SL_SC7U22_WAIT_FIFO_LEN_ENABLE==0x00
 	while((fifo_num1&0x20)!=0x20)
 	{
@@ -352,7 +357,7 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 	SL_SC7U22_I2c_Spi_Read(SL_SPI_IIC_INTERFACE, 0x21, fifo_num*2, SL_SC7U22_FIFO_DATA);//读取FIFO数据 BYTE NUM
 //	SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D, 0x00);//BY PASS MODE
 //	SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D, 0x20);//Stream MODE
-	xlog("SC7U22_FIFO_NUM1:%d\n",fifo_num);
+	// xlog("SC7U22_FIFO_NUM1:%d\n",fifo_num);
 #if SL_Sensor_Algo_Release_Enable==0x00
 //	xlog("0x1F:0x%x 0x20:0x%x\n",fifo_num1,fifo_num2);
 //	xlog("SC7U22_FIFO_NUM1:%d\n",fifo_num);
@@ -400,9 +405,12 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 		{	
 			i = i + 2;
 		}
-	}		
-
+	}
+    fifo_len = Acc_FIFO_Num;
+    // xlog("Acc_FIFO_Num:%d,Gyr_FIFO_Num:%d\n",Acc_FIFO_Num,Gyr_FIFO_Num);
 	
+    SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D,0x00); 
+    SL_SC7U22_I2c_Spi_Write(SL_SPI_IIC_INTERFACE, 0x1D,0x20); 
 	return fifo_len;
 }
 #endif
diff --git a/apps/earphone/xtell_Sensor/sensor/SC7U22.h b/apps/earphone/xtell_Sensor/sensor/SC7U22.h
index e33a056..bc45da3 100644
--- a/apps/earphone/xtell_Sensor/sensor/SC7U22.h
+++ b/apps/earphone/xtell_Sensor/sensor/SC7U22.h
@@ -14,7 +14,7 @@ Copyright (c) 2022 Silan MEMS. All Rights Reserved.
 //是否使能串口打印调试
 #define SL_Sensor_Algo_Release_Enable  0x00
 //是否开启FIFO模式，默认STREAM模式
-#define SL_SC7U22_FIFO_ENABLE          0x00
+#define SL_SC7U22_FIFO_ENABLE          0x01
 
 
 /***使用前请根据实际情况配置以下参数******/
diff --git a/apps/earphone/xtell_Sensor/xtell.h b/apps/earphone/xtell_Sensor/xtell.h
index dc77190..e197c79 100644
--- a/apps/earphone/xtell_Sensor/xtell.h
+++ b/apps/earphone/xtell_Sensor/xtell.h
@@ -1,7 +1,7 @@
 #ifndef XTELL_H
 #define XTELL_H
 #include "system/includes.h"
-
+#include "generic/typedef.h"
 // #define KS_BLE 1
 #define XTELL_TEST 1
 
diff --git a/apps/earphone/xtell_Sensor/xtell_handler.c b/apps/earphone/xtell_Sensor/xtell_handler.c
index af91c2f..09b91fa 100644
--- a/apps/earphone/xtell_Sensor/xtell_handler.c
+++ b/apps/earphone/xtell_Sensor/xtell_handler.c
@@ -191,6 +191,106 @@ static int state_machine(struct application *app, enum app_state state, struct i
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //handle
+void le_user_app_event(u8* buffer){
+    if (buffer[0] == 0xBE && buffer[1] == 0xBB) {
+        if(buffer[2] == 0x01){      //后面的数据长度 1
+            switch (buffer[3]){
+                case 0x01:
+                    // extern void gsensor_test(void);
+                    // create_process(&gsensor_test_id,"gsensor_test",NULL,gsensor_test,1000);
+                    xlog("ota_test");
+                    cpu_reset();
+                    break;
+                case 0xff:  //测试
+                    u8 device_buff[10];
+                    u8 founds = 0;
+                    extern void i2c_scanner_probe(u8* device_addr, u8* found_number);
+                    i2c_scanner_probe(device_buff,&founds);
+                    for(int i = 0;i < founds;i++){
+                        send_data_to_ble_client(&device_buff,founds);
+                    }
+                    break;
+                case 0x02:
+                    extern void test_func(void);
+                    test_func();
+                    break;
+                default:
+                    break;
+            }
+        }else if(buffer[2] == 0x02){  //后面数据长度为2
+            switch (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(buffer[4] == 0x01){  //六轴
+                        // stop_calibration();
+                        if (SL_SC7U22_Config() == 0) {
+                            SC7U22_init = 0x10;
+                        }else{
+                            SC7U22_init = 0x11;
+                        }
+                        send2_0[4] = SC7U22_init; 
+                        send_data_to_ble_client(&send2_0,5);
+                        // start_calibration();
+                    }else if(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(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: //设置传感器采集对象：左脚or右脚
+                    u8 send2_1[9] = {0xBB,0xBE,0x06,0x05,0x00,0x00,0x00,0x00,0x00};
+                    if(buffer[4] == 0x01){ //设定数据来源是左脚
+                        foot_init = 0x41; 
+                    }else if(buffer[4] == 0x02){//设定数据来源是右脚
+                        foot_init = 0x42; 
+                    }
+                    send2_1[4] = foot_init;
+                    send_data_to_ble_client(&send2_1,9);
+                    break;
+                case 0x02: //数据包类型为：获取指定传感器初始化状态
+                    u8 send2_2[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                    if(buffer[4] == 0x01){  //六轴
+                        send2_2[4] = SC7U22_init;
+                    }else if(buffer[4] == 0x02){  //地磁
+                        send2_2[4] = MMC5603nj_init;
+                    }else if(buffer[4] == 0x03){  //气压计
+                        send2_2[4] = BMP280_init;
+                    }
+                    send_data_to_ble_client(&send2_2,5);
+                    break;
+                case 0x03:  //开始/停止滑雪计算 
+                    if(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_3[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                            send_data_to_ble_client(&send2_3,5);
+                            return;
+                        }
+                        start_clloct();
+                    }else if(buffer[4] == 0x02){ //停止滑雪计算
+                        stop_clloct();
+                    }
+                    break;
+            }
+        }
+    }
+}
 
 
 void le_user_app_send_event(size_t command, unsigned char* data, size_t size)
@@ -246,14 +346,15 @@ void le_user_app_event_handler(struct sys_event* event){
                         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
-                                stop_calibration();
+                                // stop_calibration();
                                 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;
+                                    SC7U22_init = 0x10;  //初始化失败
+                                }else{
+                                    SC7U22_init = 0x11;
                                 }
-                                start_calibration();
+                                send2_0[4] = SC7U22_init;
+                                send_data_to_ble_client(&send2_0,5);
+                                // start_calibration();
                             }else if(event->u.app.buffer[4] == 0x02){  //地磁
                                 if(mmc5603nj_init() == 0){
                                     MMC5603nj_init = 0x20;
diff --git a/cpu/br28/tools/app.bin b/cpu/br28/tools/app.bin
index 5d2988e..0803cca 100644
Binary files a/cpu/br28/tools/app.bin and b/cpu/br28/tools/app.bin differ
diff --git a/cpu/br28/tools/data_code.bin b/cpu/br28/tools/data_code.bin
index e278184..51bab63 100644
Binary files a/cpu/br28/tools/data_code.bin and b/cpu/br28/tools/data_code.bin differ
diff --git a/cpu/br28/tools/download/earphone/jl_isd.bin b/cpu/br28/tools/download/earphone/jl_isd.bin
index 600948c..69e734b 100644
Binary files a/cpu/br28/tools/download/earphone/jl_isd.bin and b/cpu/br28/tools/download/earphone/jl_isd.bin differ
diff --git a/cpu/br28/tools/sdk.elf.resolution.txt b/cpu/br28/tools/sdk.elf.resolution.txt
index db50389..6b95139 100644
--- a/cpu/br28/tools/sdk.elf.resolution.txt
+++ b/cpu/br28/tools/sdk.elf.resolution.txt
@@ -1318,7 +1318,7 @@ objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o
 -r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,sm_passkey_input,l
 -r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,little_endian_read_16,l
 -r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,att_get_ccc_config,l
--r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,test_func,l
+-r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,le_user_app_event,l
 -r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,att_set_ccc_config,l
 -r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,ble_vendor_get_peer_rssi,l
 -r=objs/apps/common/third_party_profile/jieli/trans_data_demo/le_trans_data.c.o,set_app_connect_type,l
@@ -5299,20 +5299,19 @@ objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,app_var,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,config_update_mode,l
 objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_send_event,pl
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sys_event_notify,l
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event_handler,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,printf,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,i2c_scanner_probe,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,send_data_to_ble_client,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,test_func,l
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,stop_calibration,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,SL_SC7U22_Config,l
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_calibration,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,mmc5603nj_init,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bmp280_init,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_clloct,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,stop_clloct,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_send_event,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sys_event_notify,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event_handler,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,p33_soft_reset,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clk_set,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clk_get,l
@@ -5368,48 +5367,42 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sys_timer_get_ms,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,printf,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,get_ms_timer,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_static_calibration,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,set_SC7U22_Error_Flag,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_RawData_Read,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,Q_SL_SC7U22_Angle_Output,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,close_process,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_collect_fuc,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_read_origin_data,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_collect_task,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_read_mag_data,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_FIFO_Read,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_read_data,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_processing_task,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_full,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_write,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_time_dly,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,data_log,pl
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_fuc,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_empty,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_sem_pend,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_read,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,stop_BLE_send_fuc,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_calibration,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,create_process,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,stop_calibration,pl
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_clloct,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_task_create,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,stop_clloct,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_task_del_req,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,xtell_task_create,pl
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,hw_iic_init,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_init,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_task,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_time_dly,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_sem_create,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,on_ble_can_send,pl
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_sem_post,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,data_send_task,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,test_func,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,os_task_create,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_init,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_calibration_id,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,foot_init,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_fuc_id,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_collect_fuc_id,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_data,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_Config,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_init,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_init,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,puts,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,j,pl
 objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_init,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_create,l
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_deinit,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_del,l
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_write,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_pend,l
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_is_full,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,os_mutex_post,l
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_read,pl
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_is_empty,pl
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_size,pl
@@ -5446,65 +5439,19 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_SOFT_RESET,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,os_time_dly,l
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_TimeStamp_Read,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_RawData_Read,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_FIFO_Read,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Open_Close_SET,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_IN_SLEEP_SET,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_WakeUp_SET,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Angle_Output,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,asinf,l
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atanf,l
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Original_SL_SC7U22_Angle_Output,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atan2f,l
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,sqrtf,l
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,fabsf,l
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,get_SC7U22_Error_Flag,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,set_SC7U22_Error_Flag,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_SL_SC7U22_Angle_Output,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,gravity_sensor_command,l
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,_gravity_sensor_get_ndata,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,delay,l
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,iic_write_result,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,iic_read_len,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,xt_Check_Flag,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_dot,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_dot0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_angle,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_gyro,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,R_angle,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,dt,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P1,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,P2,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Pdot0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Pdot1,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Pdot2,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,C_0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,C_1,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,C_2,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,q_bias0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_err0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,PCt0_0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,PCt0_1,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,E0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,K0_0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,K0_1,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,t0_0,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,t0_1,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Error_Flag,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Error_cnt,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Error_cnt2,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_Accgyro,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Error_Accgyro,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Sum_Avg_Accgyro,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Kp,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Ki,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_dt,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Error_Mag_f,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Sum_Avg_Mag_f,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_AccGyro,pl
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_Mag,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_FIFO_DATA,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Acc_FIFO_Num,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Gyr_FIFO_Num,pl
 objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,clear_speed,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,start_detection,pl