气压计1s读一次，过采样率128，测量成功

cun
2025-12-10 19:17:54 +08:00 · 2025-12-10 16:21:41 +08:00 · 2025-12-10 11:11:36 +08:00 · 2025-12-10 10:23:21 +08:00 · 2025-12-09 19:28:20 +08:00 · 2025-12-09 17:02:07 +08:00
1152 changed files with 2159 additions and 279981 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,17 @@
+# 编译生成的目标文件
+*.o
+*.so
+*.d
+
+# 编译生成的最终产物
+*.elf
+*.fw
+*.ufw
+*.map
+*.lst
+*.bc
+
+
+# VSCode 用户个人设置
+# 团队协作时，每个人的配置可能不同，通常不建议提交
+.vscode/settings.json
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -1,33 +0,0 @@
-{
-    "files.associations": {
-        "board_config.h": "c",
-        "board_jl701n_demo_cfg.h": "c",
-        "colorful_lights.h": "c",
-        "board_jl701n_anc_cfg.h": "c",
-        "update_loader_download.h": "c",
-        "iic_soft.h": "c",
-        "circle_buffer.h": "c",
-        "default_event_handler.h": "c",
-        "ui_manage.h": "c",
-        "charge.h": "c",
-        "app_main.h": "c",
-        "app_config.h": "c",
-        "app_action.h": "c",
-        "includes.h": "c",
-        "key_event_deal.h": "c",
-        "app_umidigi_chargestore.h": "c",
-        "hci_lmp.h": "c",
-        "bluetooth.h": "c",
-        "SCU722.C": "cpp",
-        "math.h": "c",
-        "avctp_user.h": "c",
-        "string.h": "c",
-        "dev_manager.h": "c",
-        "bt_tws.h": "c",
-        "skiing_tracker.h": "c",
-        "xtell.h": "c",
-        "debug.h": "c",
-        "ano_protocol.h": "c",
-        "board_jl701n_demo_global_build_cfg.h": "c"
-    }
-}
--- a/1
+++ b/1
@ -628,6 +628,7 @@ c_SRC_FILES := \
 	apps/earphone/xtell_Sensor/sensor/MMC56.c \
 	apps/earphone/xtell_Sensor/sensor/BMP280.c \
 	apps/earphone/xtell_Sensor/sensor/AK8963.c \
+	apps/earphone/xtell_Sensor/sensor/WF282A.c \


 # 需要编译的 .S 文件
--- a/apps/common/device/gSensor/gSensor_manage.c
+++ b/apps/common/device/gSensor/gSensor_manage.c
@ -213,7 +213,7 @@ void write_gsensor_data_handle(void)
 }

 // 临时的设备扫描诊断函数
-void i2c_scanner_probe(void)
+void i2c_scanner_probe(u8* device_addr, u8* found_number)
 {
    printf("Starting I2C bus scan...\n");
    int devices_found = 0;
@ -230,6 +230,7 @@ void i2c_scanner_probe(void)
        // iic_tx_byte 返回 1 表示收到了 ACK
        if (iic_tx_byte(gSensor_info->iic_hdl, write_addr_8bit))
        {
+            device_addr[devices_found] = addr_7bit;
            printf("=====================================================================\n");
            printf("I2C device found at 7-bit address: 0x%02X\n", addr_7bit);
            printf("I2C device found at 8-bit address: 0x%02X\n", write_addr_8bit);
@ -240,6 +241,7 @@ void i2c_scanner_probe(void)
        iic_stop(gSensor_info->iic_hdl);
        delay(gSensor_info->iic_delay); // 短暂延时
    }
+    *found_number = devices_found;

    if (devices_found == 0) {
        printf("Scan finished. No I2C devices found.\n");
@ -264,7 +266,8 @@ u8 gravity_sensor_command(u8 w_chip_id, u8 register_address, u8 function_command
    // xlog("iic_tx_byte id\n");
    if (0 == iic_tx_byte(gSensor_info->iic_hdl, w_chip_id)) {
        ret = 0;
-        xlog("\n gsen iic wr err 0\n");
+        xlog("iic write: I2C NACK on writing ADDR: 0x%X\n", w_chip_id);
+        // xlog("\n gsen iic wr err 0\n");
        strcpy(&w_log_buffer_1, "gsen iic wr err 0\n");
        goto __gcend;
    }
@ -314,7 +317,7 @@ u8 _gravity_sensor_get_ndata(u8 r_chip_id, u8 register_address, u8 *buf, u8 data

    iic_start(gSensor_info->iic_hdl);
    if (0 == iic_tx_byte(gSensor_info->iic_hdl, r_chip_id - 1)) {
-        xlog("I2C NACK on writing ADDR: 0x%X\n", r_chip_id - 1);
+        xlog("iic read: I2C NACK on writing ADDR: 0x%X\n", r_chip_id - 1);
        read_len = 0;
        strcpy(&sen_log_buffer_1, "gsen iic rd err 0\n");
        goto __gdend;
--- a/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c
+++ b/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c
@ -49,7 +49,7 @@
 #include "classic/tws_api.h"
 #include "rcsp_adv_user_update.h"
 #include "bt_tws.h"
-
+// #include "le_trans_data.h"
 #if (TCFG_BLE_DEMO_SELECT == DEF_BLE_DEMO_ADV_RCSP)

 #if TCFG_CHARGE_BOX_ENABLE
@ -86,8 +86,10 @@ static const char user_tag_string[] = {EIR_TAG_STRING};
 /* #include "debug.h" */

 //------
-#define ATT_LOCAL_PAYLOAD_SIZE    (200)                   //note: need >= 20
-#define ATT_SEND_CBUF_SIZE        (512)                   //note: need >= 20,缓存大小，可修改
+// #define ATT_LOCAL_PAYLOAD_SIZE    (200*10)                   //note: need >= 20
+// #define ATT_SEND_CBUF_SIZE        (1024 * 50)                   //note: need >= 20,缓存大小，可修改
+#define ATT_LOCAL_PAYLOAD_SIZE    (517)                   //note: need >= 20
+#define ATT_SEND_CBUF_SIZE        (1024 * 2)                   //note: need >= 20,缓存大小，可修改
 #define ATT_RAM_BUFSIZE           (ATT_CTRL_BLOCK_SIZE + ATT_LOCAL_PAYLOAD_SIZE + ATT_SEND_CBUF_SIZE)                   //note:
 static u8 att_ram_buffer[ATT_RAM_BUFSIZE] __attribute__((aligned(4)));
 //---------------
@ -109,9 +111,10 @@ static const uint8_t sm_min_key_size = 7;
 static const uint8_t connection_update_enable = 1; ///0--disable, 1--enable
 static uint8_t connection_update_cnt = 0; //
 static const struct conn_update_param_t connection_param_table[] = {
-    {16, 24, 16, 600},
-    {12, 28, 14, 600},//11
-    {8,  20, 20, 600},//3.7
+    {6,  12, 0, 400},//3.7
+    // {16, 24, 16, 600},
+    // {12, 28, 14, 600},//11
+    // {8,  20, 20, 600},//3.7
    /* {12, 28, 4, 600},//3.7 */
    /* {12, 24, 30, 600},//3.05 */
 };
@ -299,6 +302,17 @@ void test_data_send_packet(void)

 static void can_send_now_wakeup(void)
 {
+    // static signed char acc_data_buf[60] = {
+    //     0x11, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+    //     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    //     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+    //     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+    //     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
+    //     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x22
+    // };
+    // extern void send_data_to_ble_client(const u8* data, u16 length);
+    // send_data_to_ble_client(&acc_data_buf, 60);
+
    putchar('E');
    if (ble_resume_send_wakeup) {
        ble_resume_send_wakeup();
@ -315,6 +329,24 @@ u8 ble_update_get_ready_jump_flag(void)
    return 0;
 }

+// 添加到 le_rcsp_adv_module.c
+static void set_connection_data_length(u16 tx_octets, u16 tx_time) //xtell
+{
+    if (con_handle) {
+        ble_user_cmd_prepare(BLE_CMD_SET_DATA_LENGTH, 3, con_handle, tx_octets, tx_time);
+    }
+}
+
+static void set_connection_data_phy(u8 tx_phy, u8 rx_phy)//xtell
+{
+    if (0 == con_handle) {
+        return;
+    }
+    u8 all_phys = 0;
+    u16 phy_options = 0; // 根据你的 SDK 定义调整
+    ble_user_cmd_prepare(BLE_CMD_SET_PHY, 5, con_handle, all_phys, tx_phy, rx_phy, phy_options);
+}
+
 /*
 * @section Packet Handler
 *
@ -370,6 +402,16 @@ static void cbk_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *p
                connection_update_complete_success(packet);
                break;
            }
+            case HCI_SUBEVENT_LE_DATA_LENGTH_CHANGE: //xtell
+                log_info("APP HCI_SUBEVENT_LE_DATA_LENGTH_CHANGE\n");
+                set_connection_data_phy(2, 2); // 2 表示 2M PHY
+                break;
+
+            case HCI_SUBEVENT_LE_PHY_UPDATE_COMPLETE://xtell
+                log_info("APP HCI_SUBEVENT_LE_PHY_UPDATE %s\n", packet[4] ? "Fail" : "Succ"); // packet[4] 是 status
+                log_info("Tx PHY: %d\n", packet[5]); // packet[5] 是 TX_PHY
+                log_info("Rx PHY: %d\n", packet[6]); // packet[6] 是 RX_PHY
+                break;
            break;

        case HCI_EVENT_DISCONNECTION_COMPLETE:
@ -410,6 +452,7 @@ static void cbk_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *p
            mtu = att_event_mtu_exchange_complete_get_MTU(packet) - 3;
            log_info("ATT MTU = %u\n", mtu);
            ble_user_cmd_prepare(BLE_CMD_ATT_MTU_SIZE, 1, mtu);
+            set_connection_data_length(251, 2120);//xtell
            break;

        case HCI_EVENT_VENDOR_REMOTE_TEST:
@ -571,6 +614,7 @@ static int app_send_user_data(u16 handle, u8 *data, u16 len, u8 handle_type)

    ret = ble_user_cmd_prepare(BLE_CMD_ATT_SEND_DATA, 4, handle, data, len, handle_type);
    if (ret == BLE_BUFFER_FULL) {
+        printf("app_send_user_data: buffer full\n");
        ret = APP_BLE_BUFF_FULL;
    }

@ -1663,12 +1707,8 @@ void send_version_to_sibling(void)
    data[2] = ver >> 8;
    tws_api_send_data_to_sibling(data, sizeof(data), TWS_FUNC_ID_SEQ_RAND_SYNC);
 }
-#endif

 ///////////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
 void send_data_to_ble_client(const u8* data, u16 length)
 {
    // 检查数据长度是否有效
@ -1677,8 +1717,8 @@ void send_data_to_ble_client(const u8* data, u16 length)
        return;
    }

-    // 检查缓冲区空间
-    if (app_send_user_data_check(length)) {
+    // // 检查缓冲区空间
+    // if (app_send_user_data_check(length)) {
        // 发送数据
        int ret = app_send_user_data(ATT_CHARACTERISTIC_ae02_01_VALUE_HANDLE, data, length, ATT_OP_NOTIFY);
        if (ret == 0) {  // 假设 0 表示成功
@ -1686,7 +1726,12 @@ void send_data_to_ble_client(const u8* data, u16 length)
        } else {
            // printf("Failed to send data: Length %d, Error code: %d\n", length, ret);
        }
-    } else {
+    // } else {
    //     printf("Insufficient buffer space to send data: Length %d\n", length);
-    }
+    // }
 }
+#endif
+
+
+
+
--- a/apps/common/third_party_profile/jieli/JL_rcsp/rcsp_updata/rcsp_adv_user_update.c
+++ b/apps/common/third_party_profile/jieli/JL_rcsp/rcsp_updata/rcsp_adv_user_update.c
@ -530,6 +530,7 @@ void JL_rcsp_msg_deal(void *hdl, u8 event, u8 *msg)

    case MSG_JL_ENTER_UPDATE_MODE:
        rcsp_printf("MSG_JL_ENTER_UPDATE_MODE:%x %x\n", msg[0], msg[1]);
+        clk_set("sys",96*1000000L);
        bt_set_low_latency_mode(0);
        if (support_dual_bank_update_en && !tws_api_get_role()) {
            u8 status = 0;
--- 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
@ -81,9 +81,9 @@ extern void printf_buf(u8 *buf, u32 len);

 //------
 //ATT发送的包长,    note: 20 <=need >= MTU
-#define ATT_LOCAL_MTU_SIZE    (200)                   //
+#define ATT_LOCAL_MTU_SIZE    (517)                   //200
 //ATT缓存的buffer大小,  note: need >= 20,可修改
-#define ATT_SEND_CBUF_SIZE        (512)                   //
+#define ATT_SEND_CBUF_SIZE        (512 * 20)                   //

 //共配置的RAM
 #define ATT_RAM_BUFSIZE           (ATT_CTRL_BLOCK_SIZE + ATT_LOCAL_MTU_SIZE + ATT_SEND_CBUF_SIZE)                   //note:
@ -125,9 +125,10 @@ static uint8_t connection_update_cnt = 0; //

 //参数表
 static const struct conn_update_param_t connection_param_table[] = {
-    {16, 24, 10, 600},//11
-    {12, 28, 10, 600},//3.7
-    {8,  20, 10, 600},
+    {6, 12, 0, 400},//11
+    // {16, 24, 10, 600},//11
+    // {12, 28, 10, 600},//3.7
+    // {8,  20, 10, 600},
    /* {12, 28, 4, 600},//3.7 */
    /* {12, 24, 30, 600},//3.05 */
 };
@ -706,6 +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);
+    extern void le_user_app_event(u8* buffer);
+    le_user_app_event(buffer);

    switch (handle) {

@ -1389,6 +1392,44 @@ void hangup_ans_call_handle(u8 en)

 }
 #endif
+
+void send_data_to_ble_client(const u8* data, u16 length)
+{
+    // 检查数据长度是否有效
+    if (length == 0 || length > 512) {
+        printf("Error: Data length %d is out of range (1-512)\n", length);
+        return;
+    }
+
+    // // 检查缓冲区空间
+    // if (app_send_user_data_check(length)) {
+        // 发送数据
+        int ret = app_send_user_data(ATT_CHARACTERISTIC_ae02_01_VALUE_HANDLE, data, length, ATT_OP_NOTIFY);
+        if (ret == 0) {  // 假设 0 表示成功
+            // printf("Data sent successfully: Length %d\n", length);
+        } else {
+            printf("Failed to send data: Length %d, Error code: %d\n", length, ret);
+        }
+    // } else {
+    //     printf("Insufficient buffer space to send data: Length %d\n", length);
+    // }
+}
+
+void rcsp_adv_fill_mac_addr(u8 *mac_addr_buf)
+{
+#if (MUTIl_CHARGING_BOX_EN)
+    u8 *mac_addr = get_chargebox_adv_addr();
+    if (mac_addr) {
+        swapX(mac_addr, mac_addr_buf, 6);
+    }
+
+    /* printf("mac_addr:"); */
+    /* printf_buf(mac_addr_buf, 6); */
+
+#else
+    swapX(bt_get_mac_addr(), mac_addr_buf, 6);
+#endif
+}
 #endif


--- a/apps/common/third_party_profile/jieli/wireless_mic/le_wireless_mic_server.c
+++ b/apps/common/third_party_profile/jieli/wireless_mic/le_wireless_mic_server.c
@ -37,7 +37,7 @@ extern void printf_buf(u8 *buf, u32 len);
 //------
 //ATT发送的包长,    note: 20 <=need >= MTU
 #define ATT_LOCAL_MTU_SIZE    (517)                   //
-//ATT缓存的buffer大小,  note: need >= 20,可修改
+//ATT缓存的buffer大小,  +: need >= 20,可修改
 #if(APP_MAIN == APP_WIRELESS_MIC_2T1)
 #define ATT_SEND_CBUF_SIZE        (90)
 #else
@ -92,7 +92,8 @@ static uint8_t connection_update_cnt = 0; //

 //参数表
 static const struct conn_update_param_t connection_param_table[] = {
-    {WIRELESS_BLE_CONNECT_INTERVAL, WIRELESS_BLE_CONNECT_INTERVAL, 0, 100},//11
+    // {1, 5, 4, 600},//11
+     {12, 24, 0, 400}, // 建议修改为此值 (15ms - 30ms interval)
 };

 //共可用的参数组数
@ -421,7 +422,7 @@ static void cbk_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *p

            case HCI_SUBEVENT_LE_DATA_LENGTH_CHANGE:
                log_info("APP HCI_SUBEVENT_LE_DATA_LENGTH_CHANGE\n");
-                set_connection_data_phy(CONN_SET_2M_PHY, CONN_SET_2M_PHY);
+                // set_connection_data_phy(CONN_SET_2M_PHY, CONN_SET_2M_PHY);
                break;

            case HCI_SUBEVENT_LE_PHY_UPDATE_COMPLETE:
@ -453,7 +454,7 @@ static void cbk_packet_handler(uint8_t packet_type, uint16_t channel, uint8_t *p
            mtu = att_event_mtu_exchange_complete_get_MTU(packet) - 3;
            log_info("ATT MTU = %u\n", mtu);
            ble_op_att_set_send_mtu(mtu);
-            set_connection_data_length(251, 2120);
+            // set_connection_data_length(251, 2120);
            break;

        case HCI_EVENT_VENDOR_REMOTE_TEST:
@ -1067,6 +1068,44 @@ void ble_server_send_test_key_num(u8 key_num)
    ;
 }

+
+void send_data_to_ble_client(const u8* data, u16 length)
+{
+    // 检查数据长度是否有效
+    if (length == 0 || length > 512) {
+        printf("Error: Data length %d is out of range (1-512)\n", length);
+        return;
+    }
+
+    // // 检查缓冲区空间
+    // if (app_send_user_data_check(length)) {
+        // 发送数据
+        int ret = app_send_user_data(ATT_CHARACTERISTIC_ae02_01_VALUE_HANDLE, data, length, ATT_OP_NOTIFY);
+        if (ret == 0) {  // 假设 0 表示成功
+            printf("Data sent successfully: Length %d\n", length);
+        } else {
+            printf("Failed to send data: Length %d, Error code: %d\n", length, ret);
+        }
+    // } else {
+    //     printf("Insufficient buffer space to send data: Length %d\n", length);
+    // }
+}
+
+void rcsp_adv_fill_mac_addr(u8 *mac_addr_buf)
+{
+#if (MUTIl_CHARGING_BOX_EN)
+    u8 *mac_addr = get_chargebox_adv_addr();
+    if (mac_addr) {
+        swapX(mac_addr, mac_addr_buf, 6);
+    }
+
+    /* printf("mac_addr:"); */
+    /* printf_buf(mac_addr_buf, 6); */
+
+#else
+    swapX(bt_get_mac_addr(), mac_addr_buf, 6);
+#endif
+}
 #endif


--- a/apps/earphone/app_main.c
+++ b/apps/earphone/app_main.c
@ -81,10 +81,10 @@ const struct task_info task_info_table[] = {
 #if AUDIO_ENC_MPT_SELF_ENABLE
    {"enc_mpt_self",		3,	   0,   512,   128 },
 #endif/*AUDIO_ENC_MPT_SELF_ENABLE*/
-    // {"update",				1,	   0,   256,   0   },
-    // {"tws_ota",				2,	   0,   256,   0   },
-    // {"tws_ota_msg",			2,	   0,   256,   128 },
-    // {"dw_update",		 	2,	   0,   256,   128 },
+    {"update",				1,	   0,   256,   0   },
+    {"tws_ota",				2,	   0,   256,   0   },
+    {"tws_ota_msg",			2,	   0,   256,   128 },
+    {"dw_update",		 	2,	   0,   256,   128 },
    {"rcsp_task",		    2,	   0,   640,   128 },
    // {"aud_capture",         4,     0,   512,   256 },
    // {"data_export",         5,     0,   512,   256 },
--- a/apps/earphone/board/br28/board_jl701n_demo.c
+++ b/apps/earphone/board/br28/board_jl701n_demo.c
@ -717,7 +717,7 @@ struct port_wakeup port0 = {
    .pullup_down_enable = ENABLE,                            //配置I/O 内部上下拉是否使能
    .edge               = FALLING_EDGE,                      //唤醒方式选择,可选：上升沿\下降沿
    .filter             = PORT_FLT_8ms,
-    .iomap              = IO_PORTB_01,                       //唤醒口选择
+    .iomap              = IO_PORTA_04,                       //唤醒口选择
 };

 #if (TCFG_TEST_BOX_ENABLE || TCFG_CHARGESTORE_ENABLE || TCFG_ANC_BOX_ENABLE || TCFG_UMIDIGI_BOX_ENABLE)
--- a/apps/earphone/board/br28/board_jl701n_demo_cfg.h
+++ b/apps/earphone/board/br28/board_jl701n_demo_cfg.h
@ -23,17 +23,17 @@
 //*********************************************************************************//
 #define TCFG_UART0_ENABLE					ENABLE_THIS_MOUDLE                     //串口打印模块使能
 // #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_RX_PORT					IO_PORT_DM//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                                        //
 //*********************************************************************************//
 /*软件IIC设置*/ //xtell
-#define TCFG_SW_I2C0_CLK_PORT               IO_PORTA_05                             //软件IIC  CLK脚选择    XTELL
-#define TCFG_SW_I2C0_DAT_PORT               IO_PORTA_06                             //软件IIC  DAT脚选择
+#define TCFG_SW_I2C0_CLK_PORT               IO_PORTB_04                             //软件IIC  CLK脚选择    XTELL
+#define TCFG_SW_I2C0_DAT_PORT               IO_PORTB_05                             //软件IIC  DAT脚选择
 #define TCFG_SW_I2C0_DELAY_CNT              10                                      //IIC延时参数，影响通讯时钟频率

 /*硬件IIC端口选择  -- 具体看手册，这里写的不准 -- lmx
@ -47,7 +47,7 @@

 */
 #define TCFG_HW_I2C0_PORTS                  'B'
-#define TCFG_HW_I2C0_CLK                    1000000                                  //硬件IIC波特率:100k
+#define TCFG_HW_I2C0_CLK                    400000                                 //硬件IIC波特率:400k

 //*********************************************************************************//
 //                                 硬件SPI 配置                                        //
@ -87,7 +87,7 @@
 //*********************************************************************************//
 //                                 USB 配置                                        //
 //*********************************************************************************//
-#define TCFG_PC_ENABLE                      1//DISABLE_THIS_MOUDLE//PC模块使能
+#define TCFG_PC_ENABLE                      0//DISABLE_THIS_MOUDLE//PC模块使能
 #define TCFG_UDISK_ENABLE					0//ENABLE_THIS_MOUDLE//U盘模块使能
 #define TCFG_OTG_USB_DEV_EN                 BIT(0)//USB0 = BIT(0)  USB1 = BIT(1)

@ -729,7 +729,7 @@ DAC硬件上的连接方式,可选的配置：
 //   充电舱/蓝牙测试盒/ANC测试三者为同级关系,开启任一功能都会初始化PP0通信接口     //
 //*********************************************************************************//
 #define TCFG_CHARGESTORE_ENABLE				DISABLE_THIS_MOUDLE         //是否支持智能充电舱
-#define TCFG_TEST_BOX_ENABLE			    ENABLE_THIS_MOUDLE          //是否支持蓝牙测试盒  //xtell
+#define TCFG_TEST_BOX_ENABLE			    DISABLE_THIS_MOUDLE//ENABLE_THIS_MOUDLE          //是否支持蓝牙测试盒  //xtell
 #define TCFG_ANC_BOX_ENABLE			        CONFIG_ANC_ENABLE           //是否支持ANC测试盒
 #define TCFG_UMIDIGI_BOX_ENABLE				DISABLE_THIS_MOUDLE			//是否支持UMIDIGI充电舱  //xtell
 #if TCFG_UMIDIGI_BOX_ENABLE
@ -791,7 +791,7 @@ DAC硬件上的连接方式,可选的配置：
 //*********************************************************************************//
 #define TCFG_LOWPOWER_POWER_SEL				PWR_DCDC15        	//电源模式设置，可选DCDC和LDO
 #define TCFG_LOWPOWER_BTOSC_DISABLE			0                   //低功耗模式下BTOSC是否保持
-#define TCFG_LOWPOWER_LOWPOWER_SEL			1  				    //低功耗使能，蓝牙&&系统空闲可进入低功耗
+#define TCFG_LOWPOWER_LOWPOWER_SEL			0  				    //低功耗使能，蓝牙&&系统空闲可进入低功耗
 #define TCFG_LOWPOWER_VDDIOM_LEVEL			VDDIOM_VOL_30V		//vddiom等级
 #define TCFG_LOWPOWER_OSC_TYPE              OSC_TYPE_LRC		//低功耗晶振类型，btosc/lrc
 #if (TCFG_AUDIO_ASR_DEVELOP && TCFG_CVP_DEVELOP_ENABLE)
@ -807,7 +807,7 @@ DAC硬件上的连接方式,可选的配置：
 //                                  EQ配置                                         //
 //*********************************************************************************//
 //EQ配置，使用在线EQ时，EQ文件和EQ模式无效。有EQ文件时，使能TCFG_USE_EQ_FILE,默认不用EQ模式切换功能
-#define TCFG_EQ_ENABLE                            1     //支持EQ功能,EQ总使能
+#define TCFG_EQ_ENABLE                            0     //支持EQ功能,EQ总使能
 // #if TCFG_EQ_ENABLE
 #define TCFG_EQ_ONLINE_ENABLE                     0     //支持在线EQ调试,如果使用蓝牙串口调试，需要打开宏 APP_ONLINE_DEBUG，否则，默认使用uart调试(二选一)
 #define TCFG_BT_MUSIC_EQ_ENABLE                   1     //支持蓝牙音乐EQ
@ -1010,7 +1010,7 @@ DAC硬件上的连接方式,可选的配置：
 //*********************************************************************************//
 #define TCFG_USER_TWS_ENABLE                      0   //tws功能使能  
 #define TCFG_USER_BLE_ENABLE                      1   //BLE功能使能
-#define TCFG_BT_SUPPORT_AAC                       1   //AAC格式支持
+#define TCFG_BT_SUPPORT_AAC                       0   //AAC格式支持
 #define TCFG_BT_SUPPORT_LDAC                      0   //LDAC格式支持

 #if TCFG_BT_SUPPORT_LDAC
@ -1084,7 +1084,7 @@ DAC硬件上的连接方式,可选的配置：
 //                           编解码格式配置(CodecFormat)                           //
 //*********************************************************************************//
 /*解码格式使能*/
-#define TCFG_DEC_MP3_ENABLE                 ENABLE
+#define TCFG_DEC_MP3_ENABLE                 DISABLE
 #define TCFG_DEC_WTGV2_ENABLE				ENABLE
 #define TCFG_DEC_G729_ENABLE                DISABLE
 #define TCFG_DEC_WMA_ENABLE					DISABLE
@ -1130,7 +1130,7 @@ DAC硬件上的连接方式,可选的配置：
 //*********************************************************************************//
 #if TCFG_USER_BLE_ENABLE
 #define    DUEROS_DMA_EN             0
-#define    TRANS_DATA_EN             0//1   //xtellota
+// #define    TRANS_DATA_EN             0//1   //xtellota
 #define    BLE_HID_EN                0

 #if (DUEROS_DMA_EN)
--- a/apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h
+++ b/apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h
@ -8,12 +8,12 @@

 /* Following Macros Affect Periods Of Both Code Compiling And Post-build */

-#define CONFIG_DOUBLE_BANK_ENABLE               0       //单双备份选择(若打开了改宏,FLASH结构变为双备份结构，适用于接入第三方协议的OTA， PS: JL-OTA同样支持双备份升级, 需要根据实际FLASH大小同时配置CONFIG_FLASH_SIZE)
-#define CONFIG_APP_OTA_ENABLE                   0       //是否支持RCSP升级(JL-OTA)
+#define CONFIG_DOUBLE_BANK_ENABLE               1       //单双备份选择(若打开了改宏,FLASH结构变为双备份结构，适用于接入第三方协议的OTA， PS: JL-OTA同样支持双备份升级, 需要根据实际FLASH大小同时配置CONFIG_FLASH_SIZE)
+#define CONFIG_APP_OTA_ENABLE                   1       //是否支持RCSP升级(JL-OTA)

 #define CONFIG_UPDATE_JUMP_TO_MASK              0   	//配置升级到loader的方式0为直接reset,1为跳转(适用于芯片电源由IO口KEEP住的方案,需要注意检查跳转前是否将使用DMA的硬件模块全部关闭)

-#define CONFIG_IO_KEY_EN					  	0		//配置是否使用IO按键，配合RESET1
+#define CONFIG_IO_KEY_EN					  	1		//配置是否使用IO按键，配合RESET1
 #define CONFIG_UPDATE_WITH_MD5_CHECK_EN			0 		//配置升级是否支持MD5校验

 #define CONFIG_ANC_ENABLE           			0		//配置是否支持ANC
@ -33,7 +33,7 @@
 /* Following Macros Only For Post Bulid Configuaration */

 #define CONFIG_DB_UPDATE_DATA_GENERATE_EN       0       //是否生成db_data.bin(用于第三方协议接入使用)
-#define CONFIG_ONLY_GRENERATE_ALIGN_4K_CODE     0    	//ufw只生成1份4K对齐的代码
+#define CONFIG_ONLY_GRENERATE_ALIGN_4K_CODE     1    	//ufw只生成1份4K对齐的代码

 //config for supported chip version
 #ifdef CONFIG_BR30_C_VERSION
@ -73,8 +73,8 @@

 #if CONFIG_IO_KEY_EN
 #define CONFIG_SUPPORT_RESET1
-#define CONFIG_RESET1_PIN                        PB01 //io pin
-#define CONFIG_RESET1_TIME                       08   //unit:second
+#define CONFIG_RESET1_PIN                        PA04 //io pin
+#define CONFIG_RESET1_TIME                       01   //unit:second
 #define CONFIG_RESET1_LEVEL                      0	 //tigger level(0/1)
 #endif

--- a/apps/earphone/include/app_config.h
+++ b/apps/earphone/include/app_config.h
@ -21,9 +21,10 @@
 #define CONFIG_APP_BT_ENABLE

 #ifdef CONFIG_APP_BT_ENABLE
-#define    TRANS_DATA_EN             0
+#define    BLE_WIRELESS_SERVER_EN    0
+#define    TRANS_DATA_EN             1
 #define    RCSP_BTMATE_EN            0
-#define    RCSP_ADV_EN               1
+#define    RCSP_ADV_EN               0
 #define    AI_APP_PROTOCOL           0
 #define    LL_SYNC_EN                0
 #define    TUYA_DEMO_EN              0
@ -65,8 +66,8 @@
 #if CONFIG_APP_OTA_ENABLE
 #define RCSP_UPDATE_EN		         1	   //是否支持rcsp升级
 #if CONFIG_DOUBLE_BANK_ENABLE              //双备份才能打开同步升级流程
-#define OTA_TWS_SAME_TIME_ENABLE     1     //是否支持TWS同步升级
-#define OTA_TWS_SAME_TIME_NEW        1     //使用新的tws ota流程
+#define OTA_TWS_SAME_TIME_ENABLE     0     //是否支持TWS同步升级
+#define OTA_TWS_SAME_TIME_NEW        0     //使用新的tws ota流程
 #else
 #define OTA_TWS_SAME_TIME_ENABLE     1//0  xtellota   //是否支持TWS同步升级
 #define OTA_TWS_SAME_TIME_NEW        1//0     //使用新的tws ota流程
--- a/apps/earphone/include/earphone.h
+++ b/apps/earphone/include/earphone.h
@ -204,6 +204,18 @@ int app_protocol_sys_event_handler(struct sys_event *event);
 #define EARPHONE_STATE_SNIFF(a)
 #define EARPHONE_STATE_ROLE_SWITCH(a)

+#elif BLE_WIRELESS_SERVER_EN
+#define EARPHONE_STATE_INIT()                   do { } while(0)
+#define EARPHONE_STATE_SET_PAGE_SCAN_ENABLE()   do { } while(0)
+#define EARPHONE_STATE_GET_CONNECT_MAC_ADDR()   do { } while(0)
+#define EARPHONE_STATE_CANCEL_PAGE_SCAN()       do { } while(0)
+#define EARPHONE_STATE_ENTER_SOFT_POWEROFF()    do { } while(0)
+#define EARPHONE_STATE_TWS_INIT(a)              do { } while(0)
+#define EARPHONE_STATE_TWS_CONNECTED(a, b)      do { } while(0)
+#define SYS_EVENT_HANDLER_SPECIFIC(a)           do { } while(0)
+#define SYS_EVENT_REMAP(a) 				        0
+#define EARPHONE_STATE_SNIFF(a)
+#define EARPHONE_STATE_ROLE_SWITCH(a)
 #else
 int adv_earphone_state_init();
 int adv_earphone_state_set_page_scan_enable();
--- a/apps/earphone/log_config/lib_btctrler_config.c
+++ b/apps/earphone/log_config/lib_btctrler_config.c
@ -232,7 +232,8 @@ const uint64_t config_btctler_le_features = LE_ENCRYPTION;

 #else
 const int config_btctler_le_roles    = (LE_ADV | LE_SLAVE);
-const uint64_t config_btctler_le_features = 0;
+// const uint64_t config_btctler_le_features = 0;
+const uint64_t config_btctler_le_features = LE_ENCRYPTION | LE_DATA_PACKET_LENGTH_EXTENSION | LE_2M_PHY;
 #endif
 #else
 const int config_btctler_le_roles    = 0;
@ -280,9 +281,13 @@ const int config_btctler_le_acl_total_nums = 1;
 const int config_btctler_le_afh_en = 0;
 const u32 config_vendor_le_bb = 0;

-const int config_btctler_le_rx_nums = 5;
-const int config_btctler_le_acl_packet_length = 27;
-const int config_btctler_le_acl_total_nums = 5;
+// const int config_btctler_le_rx_nums = 5;
+// const int config_btctler_le_acl_packet_length = 27;
+// const int config_btctler_le_acl_total_nums = 5;
+
+const int config_btctler_le_rx_nums = 8;
+const int config_btctler_le_acl_packet_length = 251;
+const int config_btctler_le_acl_total_nums = 8;
 #endif

 /*-----------------------------------------------------------*/
--- 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;
 }
--- 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
--- a/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c
+++ b/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c
@ -1,10 +1,12 @@
 /*
-    使用四元数求角度和去掉重力分量
+        
 */
 #include "skiing_tracker.h"
 #include "../sensor/SC7U22.h"
-#include <math.h>
-#include <string.h>
+
+
+#define G_ACCELERATION 9.81f
+#define DEG_TO_RAD (3.14159265f / 180.0f)

 #define ENABLE_XLOG 1
 #ifdef xlog
@ -16,13 +18,83 @@
    #define xlog(format, ...) ((void)0)
 #endif

+// --- 静止检测 ---
+//两个判断是否静止的必要条件：动态零速更新(ZUPT)阈值
+// 加速方差阈值，提高阈值，让“刹车”更灵敏，以便在波浪式前进等慢速漂移时也能触发零速更新
+#define STOP_ACC_VARIANCE_THRESHOLD 0.2f
+// 陀螺仪方差阈值
+#define STOP_GYR_VARIANCE_THRESHOLD 5.0f
+// 静止时候的陀螺仪模长
+#define STOP_GYR_MAG_THRESHOLD  15
+// --- --- --- 

-#define G_ACCELERATION 9.81f
-#define DEG_TO_RAD (3.14159265f / 180.0f)
+// --- 启动滑雪阈值 --- 
+// 加速度模长与重力的差值大于此值，认为开始运动；降低阈值，让“油门”更灵敏，以便能捕捉到真实的慢速启动
+#define START_ACC_MAG_THRESHOLD 1.0f  //0.5、1
+// 陀螺仪方差阈值，以允许启动瞬间的正常抖动，但仍能过滤掉混乱的、非滑雪的晃动。
+#define START_GYR_VARIANCE_THRESHOLD 15.0f
+// --- --- --- 

+// --- 滑雪过程 ---
+//加速度 模长(不含重力），低于此值视为 在做匀速运动
+#define SKIING_ACC_MAG_THRESHOLD 0.5f
+//陀螺仪 模长，高于此值视为 摔倒了
+#define FALLEN_GRY_MAG_THRESHOLD 2000.0f   //未确定
+// --- --- --- 
+
+// --- 原地旋转抖动 --- 
+// 加速度 方差 阈值。此值比 静止检测 阈值更宽松，
+#define WOBBLE_ACC_VARIANCE_THRESHOLD 0.5f
+// 加速度 模长 阈值
+#define WOBBLE_ACC_MAG_THRESHOLD 1.0f
+// 角速度 总模长 大于此值(度/秒)，认为正在进行非滑雪的旋转或摆动
+#define ROTATION_GYR_MAG_THRESHOLD 30.0f  
+// --- --- --- 
+
+// --- 滑雪转弯动 --- 
+// 加速度 方差 阈值，大于此值，滑雪过程可能发生了急转弯
+#define WHEEL_ACC_VARIANCE_THRESHOLD 7.0f  
+// 角速度 总模长 大于此值(度/秒)，认为滑雪过程中进行急转弯
+#define WHEEL_GYR_MAG_THRESHOLD 500.0f   // 
+// --- --- --- 
+
+// --- 跳跃 --- 
+// 加速度模长低于此值(g)，认为进入失重状态(IN_AIR)
+#define AIRBORNE_ACC_MAG_LOW_THRESHOLD 0.4f
+// 加速度模长高于此值(g)，认为发生落地冲击(LANDING)
+#define LANDING_ACC_MAG_HIGH_THRESHOLD 3.5f
+// 起跳加速度阈值(g)，用于进入TAKING_OFF状态
+#define TAKEOFF_ACC_MAG_HIGH_THRESHOLD 1.8f
+// 进入空中状态确认计数：需要连续3个采样点加速度低于阈值才判断为起跳
+#define AIRBORNE_CONFIRM_COUNT 3
+// 落地状态确认计数：加速度恢复到1g附近并持续2个采样点(20ms)则认为已落地
+#define GROUNDED_CONFIRM_COUNT 2
+// 最大滞空时间(秒)，超过此时间强制认为已落地，防止状态锁死
+#define MAX_TIME_IN_AIR 12.5f 
+// --- --- --- 
+
+// --- 用于消除积分漂移的滤波器和阈值 ---
+// 高通滤波器系数 (alpha)。alpha 越接近1，滤除低频(直流偏移)的效果越强，但可能滤掉真实的慢速运动。
+// alpha = RC / (RC + dt)，参考RC电路而来，fc ≈ (1 - alpha) / (2 * π * dt)
+#define HPF_ALPHA 0.999f  
+//0.995f： 0.08 Hz 的信号
+//0.999f： 0.0159 Hz 
+// --- --- --- 
+
+// --- 低通滤波器 ---
+// 低通滤波器系数 (alpha)。alpha 越小，滤波效果越强（更平滑），但延迟越大。
+// alpha 推荐范围 0.7 ~ 0.95。可以从 0.85 开始尝试。
+#define LPF_ALPHA 0.7f
+
+// 加速度死区阈值 (m/s^2)。低于此阈值的加速度被认为是噪声，不参与积分。
+// 设得太高会忽略真实的慢速启动，设得太低则无法有效抑制噪声。
+//参考：0.2f ~ 0.4f
+#define ACC_DEAD_ZONE_THRESHOLD 0.05f   
+
+// --- 模拟摩擦力，进行速度衰减 ---
+#define SPEED_ATTENUATION 1.0f  //暂不模拟  
 BLE_KS_send_data_t KS_data;
 static float quaternion_data[4];
-
 #ifdef XTELL_TEST

 debug_t debug1;
@ -53,7 +125,7 @@ void stop_detection(void){
 }

 /**
- * @brief  初始化
+ * @brief  初始化滑雪追踪器
 * 
 * @param tracker 
 */
@ -67,6 +139,18 @@ void skiing_tracker_init(skiing_tracker_t *tracker)
    tracker->state = STATIC;
 }

+/**
+ * @brief 当检测到落地时，计算空中的水平飞行距离并累加到总距离
+ */
+static void calculate_air_distance(skiing_tracker_t *tracker) {
+    float horizontal_speed_on_takeoff = sqrtf(
+        tracker->initial_velocity_on_takeoff[0] * tracker->initial_velocity_on_takeoff[0] +
+        tracker->initial_velocity_on_takeoff[1] * tracker->initial_velocity_on_takeoff[1]
+    );
+    float distance_in_air = horizontal_speed_on_takeoff * tracker->time_in_air;
+    tracker->distance += distance_in_air;
+}
+


 /**
@ -93,7 +177,7 @@ void q_remove_gravity_with_quaternion(const float *acc_device, const float *q, f
 }

 /**
- * @brief 使用四元数将设备坐标系的线性加速度转换到世界坐标系,并且移除重力分量
+ * @brief 使用四元数将设备坐标系的线性加速度转换到世界坐标系
 * @details 同样，此方法比使用欧拉角更优。
 * @param acc_linear_device 输入：设备坐标系下的线性加速度 [x, y, z]
 * @param q                 输入：表示姿态的四元数 [w, x, y, z]
@ -117,6 +201,208 @@ void q_transform_to_world_with_quaternion(const float *acc_linear_device, const
 }


+
+/**
+ * @brief 计算缓冲区内三轴数据的方差之和
+ * 
+ * @param buffer 传进来的三轴数据：陀螺仪/加速度
+ * @return float 返回方差和
+ */
+static float calculate_variance(float buffer[VARIANCE_BUFFER_SIZE][3])
+{
+    float mean[3] = {0};
+    float variance[3] = {0};
+
+    // 计算均值
+    for (int i = 0; i < VARIANCE_BUFFER_SIZE; i++) {
+        mean[0] += buffer[i][0];
+        mean[1] += buffer[i][1];
+        mean[2] += buffer[i][2];
+    }
+    mean[0] /= VARIANCE_BUFFER_SIZE;
+    mean[1] /= VARIANCE_BUFFER_SIZE;
+    mean[2] /= VARIANCE_BUFFER_SIZE;
+
+    // 计算方差
+    for (int i = 0; i < VARIANCE_BUFFER_SIZE; i++) {
+        variance[0] += (buffer[i][0] - mean[0]) * (buffer[i][0] - mean[0]);
+        variance[1] += (buffer[i][1] - mean[1]) * (buffer[i][1] - mean[1]);
+        variance[2] += (buffer[i][2] - mean[2]) * (buffer[i][2] - mean[2]);
+    }
+    variance[0] /= VARIANCE_BUFFER_SIZE;
+    variance[1] /= VARIANCE_BUFFER_SIZE;
+    variance[2] /= VARIANCE_BUFFER_SIZE;
+
+    // 返回三轴方差之和，作为一个综合的稳定度指标
+    return variance[0] + variance[1] + variance[2];
+}
+
+/**
+ * @brief 摩擦力模拟，进行速度衰减
+ * 
+ * @param tracker 
+ */
+void forece_of_friction(skiing_tracker_t *tracker){
+    // 增加速度衰减，模拟摩擦力
+    tracker->velocity[0] *= SPEED_ATTENUATION;
+    tracker->velocity[1] *= SPEED_ATTENUATION;
+    tracker->velocity[2] = 0; // 垂直速度强制归零
+}
+
+/**
+ * @brief 状态机更新
+ * 
+ * @param tracker 传入同步修改后传出
+ * @param acc_device_ms2 三轴加速度，m/s^2
+ * @param gyr_dps 三轴陀螺仪，dps
+ */
+static void update_state_machine(skiing_tracker_t *tracker, const float *acc_device_ms2, const float *gyr_dps)
+{
+    // 缓冲区未填满时，不进行状态判断，默认为静止
+    if (!tracker->buffer_filled) {
+        tracker->state = STATIC;
+        return;
+    }
+
+    // --- 计算关键指标 ---
+    float acc_variance = calculate_variance(tracker->acc_buffer); // 计算加速度方差
+    float gyr_variance = calculate_variance(tracker->gyr_buffer); // 计算陀螺仪方差
+    float gyr_magnitude = sqrtf(gyr_dps[0]*gyr_dps[0] + gyr_dps[1]*gyr_dps[1] + gyr_dps[2]*gyr_dps[2]);  //dps
+    float acc_magnitude = sqrtf(acc_device_ms2[0]*acc_device_ms2[0] + acc_device_ms2[1]*acc_device_ms2[1] + acc_device_ms2[2]*acc_device_ms2[2]);  //m/s^s
+    float acc_magnitude_g = acc_magnitude / G_ACCELERATION; // 转换为g单位，用于跳跃判断
+
+    #ifdef XTELL_TEST
+    debug1.acc_variance =acc_variance;
+    debug1.gyr_variance =gyr_variance;
+    debug1.gyr_magnitude=gyr_magnitude;
+    debug1.acc_magnitude=fabsf(acc_magnitude - G_ACCELERATION);
+    #endif
+
+
+
+   // --- 状态机逻辑 (核心修改区域) ---
+
+   #if 0  //暂时不考虑空中
+    // 1. 空中/落地状态的后续处理
+    if (tracker->state == IN_AIR) {
+        // A. 检测巨大冲击 -> 落地
+        if (acc_magnitude_g > LANDING_ACC_MAG_HIGH_THRESHOLD) {
+            tracker->state = LANDING;
+        // B. 检测超时 -> 强制落地 (安全机制)
+        } else if (tracker->time_in_air > MAX_TIME_IN_AIR) {
+            tracker->state = LANDING; 
+        // C. 检测恢复正常重力 (平缓落地)
+        } else if (acc_magnitude_g > 0.8f && acc_magnitude_g < 1.5f) {
+            tracker->grounded_entry_counter++;
+            if (tracker->grounded_entry_counter >= GROUNDED_CONFIRM_COUNT) {
+                tracker->state = LANDING;
+            }
+        } else {
+            tracker->grounded_entry_counter = 0;
+        }
+        return; // 在空中或刚切换到落地，结束本次状态判断
+    }
+
+    // 2. 严格的 "起跳->空中" 状态转换逻辑
+    // 只有当处于滑行状态时，才去检测起跳意图
+    if (tracker->state == NO_CONSTANT_SPEED || tracker->state == CONSTANT_SPEED || tracker->state == WHEEL) {
+        if (acc_magnitude_g > TAKEOFF_ACC_MAG_HIGH_THRESHOLD) {
+            tracker->state = TAKING_OFF;
+            tracker->airborne_entry_counter = 0; // 准备检测失重
+            return;
+        }
+    }
+    // 只有在TAKING_OFF状态下，才去检测是否进入失重
+    if (tracker->state == TAKING_OFF) {
+        if (acc_magnitude_g < AIRBORNE_ACC_MAG_LOW_THRESHOLD) {
+            tracker->airborne_entry_counter++;
+            if (tracker->airborne_entry_counter >= AIRBORNE_CONFIRM_COUNT) {
+                memcpy(tracker->initial_velocity_on_takeoff, tracker->velocity, sizeof(tracker->velocity));
+                tracker->time_in_air = 0;
+                tracker->state = IN_AIR;
+                tracker->airborne_entry_counter = 0;
+                tracker->grounded_entry_counter = 0;
+                return;
+            }
+        } else {
+            // 如果在起跳冲击后一段时间内没有失重，说明只是一个颠簸，恢复滑行
+            // 可以加一个小的超时计数器，这里为了简单先直接恢复
+            tracker->state = NO_CONSTANT_SPEED;
+        }
+        return; // 无论是否切换，都结束本次判断
+    }
+    #endif
+
+    
+    // --- 静止判断 ---
+    if (acc_variance < STOP_ACC_VARIANCE_THRESHOLD && gyr_variance < STOP_GYR_VARIANCE_THRESHOLD && gyr_magnitude < STOP_GYR_MAG_THRESHOLD) {
+        tracker->state = STATIC;
+        return;
+    }
+
+    // --- 地面状态切换逻辑 ---
+    switch (tracker->state) {
+        case LANDING: 
+            tracker->state = STATIC;
+            break;
+        case STATIC:
+            // 优先判断是否进入 WOBBLE 状态
+            // 条件：陀螺仪活动剧烈，但整体加速度变化不大（说明是原地转或晃）
+            if (gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && fabsf(acc_magnitude - G_ACCELERATION) < WOBBLE_ACC_MAG_THRESHOLD) {
+                tracker->state = WOBBLE;
+            } 
+            // 只有在陀螺仪和加速度都满足“前进”特征时，才启动
+            else if (gyr_variance > START_GYR_VARIANCE_THRESHOLD && fabsf(acc_magnitude - G_ACCELERATION) > START_ACC_MAG_THRESHOLD) {
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            break;
+
+        case WOBBLE:
+            // 从 WOBBLE 状态启动的条件应该和从 STATIC 启动一样严格
+            if (gyr_variance < START_GYR_VARIANCE_THRESHOLD * 2 && fabsf(acc_magnitude - G_ACCELERATION) > START_ACC_MAG_THRESHOLD) {
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            // 如果陀螺仪活动减弱，则可能恢复静止
+            else if (gyr_magnitude < ROTATION_GYR_MAG_THRESHOLD * 0.8f) { // 增加迟滞，避免抖动
+                // 不直接跳回STATIC，而是依赖下一轮的全局静止判断
+            }
+            break;
+        case NO_CONSTANT_SPEED:  //非匀速状态
+            //暂时不考虑摔倒
+            // if (gyr_magnitude > FALLEN_GRY_MAG_THRESHOLD) {
+            //     tracker->state = FALLEN;  //摔倒
+            // } else 
+            if (gyr_magnitude > WHEEL_GYR_MAG_THRESHOLD && acc_variance > WHEEL_ACC_VARIANCE_THRESHOLD) {
+                tracker->state = WHEEL;  //转弯
+            } else if (fabsf(acc_magnitude - G_ACCELERATION) < SKIING_ACC_MAG_THRESHOLD) {
+                tracker->state = CONSTANT_SPEED;  //匀速
+            }
+            break;
+
+        case CONSTANT_SPEED:  //匀速状态
+            if (fabsf(acc_magnitude - G_ACCELERATION) > START_ACC_MAG_THRESHOLD) { 
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            //TODO：可以添加进入转弯或摔倒的判断
+            break;
+
+        case WHEEL:
+            // 从转弯状态，检查转弯是否结束
+            // 如果角速度和加速度方差都降下来了，就回到普通滑行状态
+            if (gyr_magnitude < WHEEL_GYR_MAG_THRESHOLD * 0.8f && acc_variance < WHEEL_ACC_VARIANCE_THRESHOLD * 0.8f) { // 乘以一个滞后系数避免抖动
+                tracker->state = NO_CONSTANT_SPEED;
+            }
+            break;
+
+        case FALLEN:
+            // TODO：回到 STATIC
+            break;
+    }
+
+
+}
+
+
 /**
 * @brief 主更新函数
 * 
@ -140,46 +426,140 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
    acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
    acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;

-    #if 1  //测试禁止状态下陀螺仪的三轴加速度，去掉重力分量后是否正常
-    float tmp_device_acc[3];
-    float tmp_world_acc[3];
-    // remove_gravity_in_device_frame(acc_device_ms2,angle,tmp_device_acc);
-    // transform_acc_to_world_frame(acc_device_ms2,angle,tmp_world_acc);
+    // 将最新数据存入缓冲区
+    memcpy(tracker->acc_buffer[tracker->buffer_index], acc_device_ms2, sizeof(acc_device_ms2));
+    memcpy(tracker->gyr_buffer[tracker->buffer_index], gyr_dps, 3 * sizeof(float));
    
-    q_remove_gravity_with_quaternion(acc_device_ms2,quaternion_data,tmp_device_acc);
-    q_transform_to_world_with_quaternion(tmp_device_acc,quaternion_data,tmp_world_acc);
+    tracker->buffer_index++;
+    if (tracker->buffer_index >= VARIANCE_BUFFER_SIZE) {
+        tracker->buffer_index = 0;
+        tracker->buffer_filled = 1; // 标记缓冲区已满
+    }
+
+    // --- 更新状态机 ---
+    update_state_machine(tracker, acc_device_ms2, gyr_dps);
+
+    // --- 根据状态执行不同的计算逻辑 ---
+    switch (tracker->state) {
+        case TAKING_OFF:
+            tracker->speed = 0.0f;
+            break;
+        case IN_AIR:
+            // 在空中时，只累加滞空时间
+            tracker->time_in_air += dt;
+            break;
+        case LANDING:
+            // 刚落地，计算空中距离
+            calculate_air_distance(tracker);
+            // 清理速度和滤波器状态，为恢复地面追踪做准备
+            memset(tracker->velocity, 0, sizeof(tracker->velocity));
+            tracker->speed = 0;
+            memset(tracker->acc_world_unfiltered_prev, 0, sizeof(tracker->acc_world_unfiltered_prev));
+            memset(tracker->acc_world_filtered, 0, sizeof(tracker->acc_world_filtered));
+            memset(tracker->acc_world_lpf, 0, sizeof(tracker->acc_world_lpf)); // 清理新增的LPF状态
+            break;
+        case WHEEL:
+        case NO_CONSTANT_SPEED:
+            float linear_acc_device[3];
+            float linear_acc_world[3];
+            // 在设备坐标系下，移除重力，得到线性加速度
+            q_remove_gravity_with_quaternion(acc_device_ms2, quaternion_data, linear_acc_device);
+
+            // 将设备坐标系下的线性加速度，旋转到世界坐标系
+            q_transform_to_world_with_quaternion(linear_acc_device, quaternion_data, linear_acc_world);
+             // 将最终用于积分的加速度存入 tracker 结构体
+            memcpy(tracker->acc_no_g, linear_acc_world, sizeof(linear_acc_world));
+
+            float acc_world_temp[3]; // 临时变量存储当前周期的加速度
+            for (int i = 0; i < 2; i++) { // 只处理水平方向的 x 和 y 轴
+
+                // --- 核心修改：颠倒滤波器顺序为 HPF -> LPF ---
+
+                // 1. 高通滤波 (HPF) 先行: 消除因姿态误差导致的重力泄漏（直流偏置）
+                //    HPF的瞬态响应会产生尖峰，这是正常的。
+                tracker->acc_world_filtered[i] = HPF_ALPHA * (tracker->acc_world_filtered[i] + tracker->acc_no_g[i] - tracker->acc_world_unfiltered_prev[i]);
+                tracker->acc_world_unfiltered_prev[i] = tracker->acc_no_g[i];
+
+                // 2. 低通滤波 (LPF) 殿后: 平滑掉HPF产生的尖峰和传感器自身的高频振动噪声。
+                //    这里使用 tracker->acc_world_filtered[i] 作为LPF的输入。
+                tracker->acc_world_lpf[i] = (1.0f - LPF_ALPHA) * tracker->acc_world_filtered[i] + LPF_ALPHA * tracker->acc_world_lpf[i];
+                
+                // 将最终处理完的加速度值存入临时变量
+                acc_world_temp[i] = tracker->acc_world_lpf[i];
+            }

            // 计算处理后加速度的水平模长
-    float all_device_mag = sqrtf(tmp_device_acc[0] * tmp_device_acc[0] +
-                                        tmp_device_acc[1] * tmp_device_acc[1] + 
-                                        tmp_device_acc[2] * tmp_device_acc[2]);
+            float acc_horizontal_mag = sqrtf(acc_world_temp[0] * acc_world_temp[0] +
+                                                acc_world_temp[1] * acc_world_temp[1]);
+            #if XTELL_TEST
+            debug2.acc_magnitude = acc_horizontal_mag;
+            #endif
+            // 应用死区，并积分
+            if (acc_horizontal_mag > ACC_DEAD_ZONE_THRESHOLD) {
+                tracker->velocity[0] += acc_world_temp[0] * dt;
+                tracker->velocity[1] += acc_world_temp[1] * dt;
+            }
+
+            // 更新速度和距离
+            tracker->speed = sqrtf(tracker->velocity[0] * tracker->velocity[0] +
+                                tracker->velocity[1] * tracker->velocity[1]);
+            tracker->distance += tracker->speed * dt;
+            break;
+        case CONSTANT_SPEED:
+            //保持上次的速度不变。只更新距离
+            tracker->distance += tracker->speed * dt;
+            break;
+        case STATIC:
+        case WOBBLE:
+            // 速度清零，抑制漂移
+            memset(tracker->velocity, 0, sizeof(tracker->velocity));
+            tracker->speed = 0.0f;
+            memset(tracker->acc_world_unfiltered_prev, 0, sizeof(tracker->acc_world_unfiltered_prev));
+            memset(tracker->acc_world_filtered, 0, sizeof(tracker->acc_world_filtered));
+            memset(tracker->acc_world_lpf, 0, sizeof(tracker->acc_world_lpf)); // 清理新增的LPF状态
+            #if XTELL_TEST
+            debug2.acc_magnitude = 0;
+            #endif
+            break;   
+        case FALLEN:
+            // TODO
+            break;
+        default:
+            break;
+    }
+
+
+   
+
+    #if 1
+    float linear_acc_device[3];
+    float linear_acc_world[3];
+    float tmp_world_acc[3];
+    // 在设备坐标系下，移除重力，得到线性加速度
+    q_remove_gravity_with_quaternion(acc_device_ms2, quaternion_data, linear_acc_device);
+
+    // 将设备坐标系下的线性加速度，旋转到世界坐标系
+    q_transform_to_world_with_quaternion(linear_acc_device, quaternion_data, tmp_world_acc);
+
    
    float all_world_mag = sqrtf(tmp_world_acc[0] * tmp_world_acc[0] +
                                        tmp_world_acc[1] * tmp_world_acc[1] + 
                                        tmp_world_acc[2] * tmp_world_acc[2]);
    
-    float gx_proj = 2.0f * (quaternion_data[1] * quaternion_data[3] - quaternion_data[0] * quaternion_data[2]);
-    float gy_proj = 2.0f * (quaternion_data[0] * quaternion_data[1] + quaternion_data[2] * quaternion_data[3]);
-    float gz_proj = quaternion_data[0] * quaternion_data[0] - quaternion_data[1] * quaternion_data[1] - quaternion_data[2] * quaternion_data[2] + quaternion_data[3] * quaternion_data[3];
-
- 
    static int count = 0;
    if(count > 100){
        xlog("===original(g): x %.2f, y %.2f, z %.2f===\n",acc_g[0],acc_g[1],acc_g[2]);
-        xlog("===device(m/s^2) no g: x %.2f, y %.2f, z %.2f, all %.2f===\n",tmp_device_acc[0],tmp_device_acc[1],tmp_device_acc[2],all_device_mag); 
-        xlog("===world(m/s^2) no g: x %.2f, y %.2f, z %.2f, all %.2f===\n",tmp_world_acc[0],tmp_world_acc[1],tmp_world_acc[2],all_world_mag); 
-        xlog("===gyr(dps) : x %.2f, y %.2f, z %.2f, all %.2f===\n",gyr_dps[0],gyr_dps[1],gyr_dps[2]);   //angle
+        xlog("===world(m/s^2) no g: x %.2f, y %.2f, z %.2f, all %.2f===\n",tmp_world_acc[0],tmp_world_acc[1],tmp_world_acc[2],all_world_mag);  //去掉重力加速度
+        xlog("===gyr(dps) : x %.2f, y %.2f, z %.2f===\n",gyr_dps[0],gyr_dps[1],gyr_dps[2]);   //angle
        xlog("===angle : x %.2f, y %.2f, z %.2f,===\n",angle[0],angle[1],angle[2]);
-        xlog("GRAVITY VECTOR in device frame: gx=%.2f, gy=%.2f, gz=%.2f\n", gx_proj, gy_proj, gz_proj);
-        extern mmc5603nj_cal_data_t cal_data; 
-        xlog("cal_data:X: %.4f, Y: %.4f, Z: %.4f\n", cal_data.offset_x,cal_data.offset_y,cal_data.offset_z);
+        xlog("===speed(cm/s): %d\n",(int)(tracker->speed*100) );
        count = 0;
        
    }
    count++;
-    
    #endif

+
 }


@ -190,13 +570,14 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
 * @param acc_data_buf 传入的三轴加速度数据
 * @param gyr_data_buf 传入的三轴陀螺仪数据
 * @param angle_data   传入的欧若拉角数据
- * @return BLE_send_data_t 要发送给蓝牙的数据
+ * @return 速度cm/s
 */
-BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion) {
+uint16_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion) {
    
    static int initialized = 0;
    static float acc_data_g[3];
    static float gyr_data_dps[3];
+
    if(quaternion != NULL){
        memcpy(quaternion_data, quaternion,  4 * sizeof(float));
    }
@ -204,7 +585,6 @@ BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short*
    // const float delta_time = DELTA_TIME+0.01f;
    // const float delta_time = DELTA_TIME + 0.005f;
    const float delta_time = DELTA_TIME;
-    BLE_send_data_t BLE_send_data;
    
    if (!initialized) {
        skiing_tracker_init(&my_skiing_tracker);
@ -249,22 +629,7 @@ BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short*

    skiing_tracker_update(&my_skiing_tracker, acc_data_g, gyr_data_dps, angle_data, delta_time);

-    // BLE_send_data.skiing_state = my_skiing_tracker.state;
-    // for (int i = 0; i < 3; i++) {
-    //     #ifdef XTELL_TEST
-    //     BLE_send_data.acc_data[i] = (short)(acc_data_g[i] * 9.8f) * 100; //cm/^s2
-    //     BLE_send_data.gyr_data[i] = (short)gyr_data_dps[i];  //dps
-    //     BLE_send_data.angle_data[i] = angle_data[i];
-    //     #else
-    //     BLE_send_data.acc_data[i] = (short)acc_data_buf[i];   //原始adc数据
-    //     BLE_send_data.gyr_data[i] = (short)gyr_data_buf[i];   //原始adc数据
-    //     BLE_send_data.angle_data[i] = angle_data[i];
-    //     #endif
-    // }
-    // BLE_send_data.speed_cms = (int)(my_skiing_tracker.speed * 100);
-    // BLE_send_data.distance_cm = (int)(my_skiing_tracker.distance * 100);
-    // // printf("Calculate the time interval =============== end\n");
    
-    return BLE_send_data;
+    return (uint16_t)(my_skiing_tracker.speed * 100);
 }

--- a/apps/earphone/xtell_Sensor/calculate/skiing_tracker.h
+++ b/apps/earphone/xtell_Sensor/calculate/skiing_tracker.h
@ -2,6 +2,10 @@
 #define SKIING_TRACKER_H

 #include "../xtell.h"
+#include <math.h>
+#include <string.h>
+
+
 // 定义滑雪者可能的状态
 typedef enum {
    STATIC,                   // 静止或动态稳定：0
@ -30,7 +34,7 @@ typedef struct {
    skiing_state_t state;       // 当前滑雪状态

    // 内部计算使用的私有成员
-    float acc_world[3];         // 在世界坐标系下的加速度
+    float acc_no_g[3];         // 去掉重力分量后的加速度

    // 用于空中距离计算
    float time_in_air;                     // 滞空时间计时器
@ -52,16 +56,7 @@ typedef struct {
    float acc_world_lpf[3];       // 经过低通滤波后的世界坐标系加速度
 } skiing_tracker_t;

-//ble发送的数据
-typedef struct{  //__attribute__((packed)){   //该结构体取消内存对齐
-    char sensor_state;
-    char skiing_state;
-    int speed_cms;        //求出的速度，cm/s
-    int distance_cm;      //求出的距离，cm
-    short acc_data[3];  //三轴加速度, g
-    short gyr_data[3];  //三轴陀螺仪, dps
-    float angle_data[3];     //欧若拉角
-}BLE_send_data_t;
+

 typedef struct{
    int acc_KS[3];      //卡尔曼后，LSB转换后的  三轴加速度数据（cm/s^2）
@ -84,5 +79,5 @@ typedef struct{
 */
 void skiing_tracker_init(skiing_tracker_t *tracker);

-BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion);
+uint16_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data, float* quaternion);
 #endif // SKIING_TRACKER_H
--- a/apps/earphone/xtell_Sensor/send_data.c
+++ b/apps/earphone/xtell_Sensor/send_data.c
@ -6,6 +6,8 @@
 #include "tone_player.h"
 #include "ui_manage.h"
 #include "gpio.h"
+#include <math.h>
+#include <string.h>
 #include "app_main.h"
 #include "asm/charge.h"
 #include "update.h"
@ -24,6 +26,11 @@
 #include "./sensor/MMC56.h"
 #include "./sensor/BMP280.h"
 #include "./sensor/AK8963.h"
+#include "./sensor/WF282A.h"
+#include "asm/rtc.h"
+#include "system/timer.h"
+#include "adv_time_stamp_setting.h"
+#include "btstack/le/le_user.h"
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //宏定义
 #define ENABLE_XLOG 1
@ -35,6 +42,12 @@
 #else
    #define xlog(format, ...) ((void)0)
 #endif
+
+#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
+
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////

@ -42,555 +55,433 @@
 //START -- 函数定义
 void send_data_to_ble_client(const u8* data, u16 length);
 extern void create_process(u16* pid, const char* name, void *priv, void (*func)(void *priv), u32 msec);
+extern void close_process(u16* pid,char* name);
+void BLE_send_fuc(void);
 //END -- 函数定义
 //////////////////////////////////////////////////////////////////////////////////////////////////


 //////////////////////////////////////////////////////////////////////////////////////////////////
 //START -- 变量定义
+static u32 timer_offset_ms = 0;

-// --- 任务ID ---
-static u16 xtell_i2c_test_id;
-static u16 collect_data_id;
-static u16 ble_send_data_id;
-static u16 sensor_read_data_id;
-static u16 calculate_data_id;
+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));
+
+typedef struct{
+    uint8_t checkout_1;
+    uint8_t checkout_2;  
+    uint8_t foot; //1：左脚，2：右脚
+    uint8_t package_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 ---
-#define SENSOR_DATA_BUFFER_SIZE 512
-static u8 sensor_data_buffer[SENSOR_DATA_BUFFER_SIZE];
-static circle_buffer_t sensor_cb;
+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

-static int count = 0;
+extern u8 foot_init;
+static OS_SEM receiver_ready_sem; // 用于启动同步的信号量

-//--- test ---
-// 全局变量
-u16 gsensor_id=0;
-u16 test_id=0;
+static const uart_bus_t *uart_bus = NULL;
+
+static u16 test_id = 0;
 //END -- 变量定义
 //////////////////////////////////////////////////////////////////////////////////////////////////


-
-
-
-
-
-
-#if 0
-BLE_send_data_t BLE_send_data;
-void test(){
-    signed short acc_data_buf[3] = {0};
-    signed short gyr_data_buf[3] = {0};
-    signed short acc_gyro_input[6] = {0};
-    float Angle_output[3] = {0};
-    // xlog("============start\n");
-
-    SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
-
-    BLE_send_data = sensor_processing_task(acc_data_buf, gyr_data_buf);
-    u8 data[50];
-    data[0] = 0xBB;
-    data[1] = 0xBE;
-    data[2] = 0x01;
-    data[3] = sizeof(BLE_send_data_t); //后续包的数据长度
-    // send_data_to_ble_client(&data,sizeof(BLE_send_data_t)+4);
-    memcpy(&data[4], &BLE_send_data, sizeof(BLE_send_data_t));
-
-    static int count = 0;
-    if(count >=10){ 
-        count = 0;
-        
-        char* division = "==========\n";
-        send_data_to_ble_client(division,strlen(division));
-
-        char log_buffer[100]; // 100个字符应该足够了
-
-        // 使用 snprintf 进行格式化
-        int num_chars_written = snprintf(
-            log_buffer,                      // 目标缓冲区
-            sizeof(log_buffer),              // 目标缓冲区的最大容量
-            "s %d, %dcm/s, %dcm\n", // 格式化字符串
-            BLE_send_data.skiing_state,      // 第一个 %d 的参数
-            BLE_send_data.speed_cms,         // 第二个 %d 的参数
-            BLE_send_data.distance_cm        // 第三个 %d 的参数
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        extern BLE_KS_send_data_t KS_data;
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Acc:%d, %d, %d\n", 
-            KS_data.acc_KS[0],KS_data.acc_KS[1],KS_data.acc_KS[2]       
-        );  // cm/s^2      
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Gyr_dps:%d, %d, %d\n", 
-            KS_data.gyr_KS_dps[0],      
-            KS_data.gyr_KS_dps[1],      
-            KS_data.gyr_KS_dps[2]       
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "angle: %d, %d, %d\n", 
-            KS_data.angle_KS[0],      
-            KS_data.angle_KS[1],      
-            KS_data.angle_KS[2]       
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        extern debug_t debug1;
-        extern debug_t debug2;
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "debug:%.2f,%.2f,%.2f(%.2f),%.2f\n", 
-            debug1.acc_variance, 
-            debug1.gyr_variance, 
-            debug1.acc_magnitude,
-            debug2.acc_magnitude,   //滤波后的加速度
-            debug1.gyr_magnitude  
-        );
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-        
-    xlog("Call interval\n");
-    }
-    count++;
-
-    memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
-    memset(&data, 0, 50);
-    // xlog("end============\n");
-
+// 重置计时器
+void reset_ms_timer(void) {
+    timer_offset_ms = sys_timer_get_ms();
+    xlog("Timer has been reset.\n");
+}
+
+// 获取从上次重置后经过的毫秒数
+u32 get_ms_timer(void) {
+    return sys_timer_get_ms() - timer_offset_ms;
 }
-#endif


-
-#define SENSOR_DATA_BUFFER_SIZE 500 // 定义缓冲区可以存储100个sensor_data_t元素
-static circle_buffer_t sensor_read; // 环形缓冲区管理结构体
-typedef struct {
-    signed short acc_data[3];
-    signed short gyr_data[3];
-    float angle[3];  //pitch roll yaw
-    float quaternion_output[4];  //四元数数据
-} sensor_data_t;
-static sensor_data_t sensor_read_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放sensor读到的数据
-
-static circle_buffer_t sensor_send; // 环形缓冲区管理结构体
-static BLE_send_data_t sensor_send_buffer[SENSOR_DATA_BUFFER_SIZE]; // 存放ble要发送的数据
-
-static u8 mutex1 = 0;
-static u8 mutex2 = 0;
-static int count_test1 = 0;
-static int count_test2 = 0;
 /**
- * @brief //读取传感器的数据放进缓冲区
+ * @brief 传感器采集任务
 * 
 */
-void sensor_read_data(){
+void sensor_collect_task(void){
+    static 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;
+    static int SL_data_index = 0;
+    u8 package_index = 1;
+    int tmp_index = 0;

-    // xlog("=======sensor_read_data START\n");
-    static signed short combined_raw_data[6];
-    static int initialized = 0;
-    static int calibration_done = 0;
-    char status = 0;
-    if(circle_buffer_is_full(&sensor_read)){
-        // xlog("sensor_read_data: read buffer full\n");
-        return;
+    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); //地磁的采样率为100Hz，每10ms读一次
+        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);

-    static sensor_data_t tmp;
-    SL_SC7U22_RawData_Read(tmp.acc_data,tmp.gyr_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));
+        SL_SC7U22_FIFO_Read(accx_buf,accy_buf,accz_buf,gyrx_buf,gyry_buf,gyrz_buf); //一次性读取内置fifo的数据
+        for(int i = 0; i < MPU_FIFO_LEN/4; i++){
+            tmp_index = SL_data_index + i;
+            // if(tmp_index >= MPU_FIFO_LEN-1) tmp_index = MPU_FIFO_LEN-1;
+            send_data.sensor_package[tmp_index].SC7U22_data[0] = accx_buf[i];  //acc_x
+            send_data.sensor_package[tmp_index].SC7U22_data[1] = accy_buf[i];  //acc_y
+            send_data.sensor_package[tmp_index].SC7U22_data[2] = accz_buf[i];  //acc_z
+            send_data.sensor_package[tmp_index].SC7U22_data[3] = gyrx_buf[i];  //gyr_x
+            send_data.sensor_package[tmp_index].SC7U22_data[4] = gyry_buf[i];  //gyr_y
+            send_data.sensor_package[tmp_index].SC7U22_data[5] = gyrz_buf[i];  //gyr_z

-    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,NULL, 0, tmp.quaternion_output);
-
-        if(count > 100){
-            count = 0;
-            char log_buffer[100]; // 100个字符应该足够了
-            // 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);
-        }
-        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,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));
-        if(mutex1 == 0){
-            mutex1 = 1;
-            // count_test1++;
-            // xlog("count_test_1: %d\n",count_test1);
-            circle_buffer_write(&sensor_read, &tmp);
-            mutex1 = 0;
-        }
-        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);    
-    }
-    // xlog("=======sensor_read_data END\n");
-
-}
-
-void calculate_data(){
-    // xlog("=======start\n");
-    sensor_data_t tmp;
-
-    if(circle_buffer_is_empty(&sensor_read)){
-        // xlog("sensor_read_buffer: read buffer empty\n");
-        return;
-    }
-
-    if(mutex1 == 0){
-        mutex1 = 1;
-        circle_buffer_read(&sensor_read, &tmp);
-        mutex1 = 0;
-    }else{
-        return;
-    }
-
-    
-    BLE_send_data_t data_by_calculate = sensor_processing_task(tmp.acc_data, tmp.gyr_data,tmp.angle,tmp.quaternion_output);
-
-    
-
-    if(circle_buffer_is_full(&sensor_send))
-        return;
-    
-    if(mutex2 == 0){
-        mutex2 = 1;
-        circle_buffer_write(&sensor_send, &data_by_calculate);
-        mutex2 = 0;
-    }
-    
-
-    // extern void BLE_send_data();
-    // BLE_send_data();
-    // xlog("=======end\n");
-}
-
-extern char xt_Check_Flag;
-void BLE_send_data(){
-    //  xlog("=======start\n");
-    if(circle_buffer_is_empty(&sensor_send)){
-        // xlog("sensor_send_buffer: send buffer empty\n");
-        return;
-    }
-    #ifdef XTELL_TEST
-    // #if 0
-    BLE_send_data_t tmp;
-    if(mutex2 == 0){
-        mutex2 = 1;
-        circle_buffer_read(&sensor_send, &tmp);
-        mutex2 = 0;
-    }else{
-        return;
-    }
-    
-    
-    if(count >=100){ 
-        // extern debug_t debug2;
-        // xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
-        // xlog("Acc:%d, %d, %d\n",tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);   
-        // xlog("Gyr:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);  
-        // xlog("debug2.acc_magnitude:%.2f\n", debug2.acc_magnitude);  
-
-        int num_chars_written;
-        count = 0;
-        char* division = "==========\n";
-        send_data_to_ble_client(division,strlen(division));
-        char log_buffer[100]; // 100个字符应该足够了
-
-        
-        // extern char iic_read_len;
-        // extern char iic_write_result;
-        // 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);  
-        // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        #if 1
-        // 使用 snprintf 进行格式化
-        num_chars_written = snprintf(
-            log_buffer,                      // 目标缓冲区
-            sizeof(log_buffer),              // 目标缓冲区的最大容量
-            "s %d, %dcm/s, %dcm\n", // 格式化字符串
-            tmp.skiing_state,      // 第一个 %d 的参数
-            tmp.speed_cms,         // 第二个 %d 的参数
-            tmp.distance_cm        // 第三个 %d 的参数
-        );
-        send_data_to_ble_client(&log_buffer, strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Acc:%d, %d, %d\n", 
-            tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]       
-        );      
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Gyr:%d, %d, %d\n", 
-            tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]       
-        );  
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "Angle:%.1f, %.1f, %1.f\n", 
-            tmp.angle_data[0],tmp.angle_data[1],tmp.angle_data[2]       
-        );  
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
+            // xlog(" Acc_x : %4d, Acc_y : %4d, Acc_z : %4d,\r\n", send_data.sensor_package[tmp_index].SC7U22_data[0], send_data.sensor_package[tmp_index].SC7U22_data[1], send_data.sensor_package[tmp_index].SC7U22_data[2]);	
+            #if 0
+                float acc_g[3];
+                float gyr_dps[3];
+                acc_g[0] =   (float)send_data.sensor_package[tmp_index].SC7U22_data[0] / 2048.0f;
+                acc_g[1] =   (float)send_data.sensor_package[tmp_index].SC7U22_data[1] / 2048.0f;
+                acc_g[2] =   (float)send_data.sensor_package[tmp_index].SC7U22_data[2] / 2048.0f;
+                gyr_dps[0] = (float)send_data.sensor_package[tmp_index].SC7U22_data[3] * 0.061f;
+                gyr_dps[1] = (float)send_data.sensor_package[tmp_index].SC7U22_data[4] * 0.061f;
+                gyr_dps[2] = (float)send_data.sensor_package[tmp_index].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
-        short acc_mo_cms = sqrtf(tmp.acc_data[0]*tmp.acc_data[0] + tmp.acc_data[1]*tmp.acc_data[1] + tmp.acc_data[2]*tmp.acc_data[2])-900;
-        memset(&log_buffer, 0, 100);
-        num_chars_written = snprintf(
-            log_buffer,                      
-            sizeof(log_buffer),              
-            "acc_cm/s^2:%d\n", 
-            acc_mo_cms       
-        );  
-        send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-        // xlog("s %d, %dcm/s, %dcm\n",tmp.skiing_state, tmp.speed_cms, tmp.distance_cm);
-        // xlog("Acc:%d, %d, %d\n", tmp.acc_data[0],tmp.acc_data[1],tmp.acc_data[2]);
-        // xlog("GYR:%d, %d, %d\n", tmp.gyr_data[0],tmp.gyr_data[1],tmp.gyr_data[2]);
        }
-    count++;
-    // xlog("=======end\n");
+        SL_data_index += MPU_FIFO_LEN/4;
+
+
+        if(interval >= 4){  //40ms
+            interval = 0;
+            SL_data_index = 0;
+            #if BMP280
+            bmp280_read_data(&temperature, &pressure);//每40ms读取一次，高精度的采样率为26.5Hz
            #else
+            WF_GET_Temperature_Pressure(&temperature, &pressure);
+            #endif
+            for(int i = 0;i<MPU_FIFO_LEN;i++){
+                send_data.sensor_package[i].temperature = (int16_t)(temperature * 1000.0f);
+                send_data.sensor_package[i].pressure = (int32_t)(pressure * 1000.0f);      
+            }
+
+            // xlog("temperature: %.2f,pressure: %.2f\n",temperature,pressure);
+            // xlog("fifo_num:%d\n",fifo_num);
+            
+            send_data.checkout_1 = 0xBE;
+            send_data.checkout_2 = 0xBB;
+            send_data.foot = foot_init;
+            send_data.package_index = package_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
+
+            memset(&send_data, 0, sizeof(ble_send_data_t));
+            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));
+
+            package_index++;
+            if(package_index >= 0xFF) package_index = 1;
+            // xlog("=====================%d============================\n",get_ms_timer());   
+        }
+        os_time_dly(1); //10ms为单位
+    }
+}
+
+
+void data_log(uint8_t* data){
+    static u8 imu_airplane[MPU_FIFO_LEN][12];
+    // 检查数据包头部
+    if (data[0] != 0xBE || data[1] != 0xBB) {
+        printf("Error: Invalid data packet header.\n");
+        return;
+    }
+
+    //左右脚
+     uint8_t package_foot = data[2];
+    
+    // 解析包索引
+    uint8_t package_index = data[3];
+    printf("--- Parsing Data Packet Index: %d ---\n", package_index);
+
+    uint8_t* p = &data[4]; // 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++) {
+            imu_airplane[i][2*j] = p[0];
+            imu_airplane[i][2*j+1] = p[1];
+            // 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 % 8 == 0){
+            printf(" ==================ble index: %d\n", *p);
+            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");
+
+    extern void uartSendData(void *buf, u16 len) ; // 确保u16是uint16_t或unsigned short
+    // uartSendData(imu_airplane, sizeof(imu_airplane)); 
+    uartSendData(data, 484); // 发送总共17字节
+}
+
+/**
+ * @brief ble数据发送函数
+ * 
+ */
+void BLE_send_fuc(void){
+    ble_send_data_t send_data;
+    uint8_t send_buffer[484];
+    while(1){   
+        os_sem_pend(&receiver_ready_sem, 0);  //阻塞等待
+        circle_buffer_read(&g_ble_send_cb, &send_data);
+        
+        // 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.foot;
+        *p++ = send_data.package_index;
+
+        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
+        }
+
+
+        extern void uartSendData(void *buf, u16 len) ; // 确保u16是uint16_t或unsigned short
+        uartSendData(send_buffer, 484); // 发送总共17字节
+        send_data_to_ble_client(send_buffer, 484); // 发送数据
+        
+        // data_log(send_buffer);
+    }
+}
+
+
+
+// ------------------------------------------------------------------------------------------------------
+// ------------------------------------------------------------------------------------------------------
+
+
+
+/**
+ * @brief 开始采集传感器数据并通过ble发送
+ * 
+ */
+void start_clloct(void){
+    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){
+    os_task_del("sensor_collect_task");
+    os_task_del("BLE_send_fuc");
+}
+
+
+
+
+/**
+ * @brief 发给上位机
+ * 
+ */
+void test_uart_init(void){
+    #if TCFG_UART0_ENABLE == 0
+    static u8 buff[40];
+    struct uart_platform_data_t u_arg = {0};
+    u_arg.tx_pin = IO_PORT_DP;
+    u_arg.rx_cbuf = buff;
+    u_arg.rx_cbuf_size = 32;
+    u_arg.frame_length = 6;
+    u_arg.rx_timeout = 100;
+    u_arg.isr_cbfun = NULL;
+    u_arg.baud = 1000000;
+    u_arg.is_9bit = 0;
+    uart_bus = uart_dev_open(&u_arg);
    #endif
 }

-//iic测试调用的
-#if 0
-
-static u16 xt_iic_test_id;
-char log_buffer_1[100]; 
-extern char sen_log_buffer_1[100];
-extern char sen_log_buffer_2[100];
-extern char sen_log_buffer_3[100];
-extern char sen_log_buffer_4[100];
-extern char sen_log_buffer_5[100];
-extern char w_log_buffer_1[100];
-extern char w_log_buffer_2[100];
-extern char w_log_buffer_3[100];
-extern char w_log_buffer_4[100];
-extern char w_log_buffer_5[100];
-void xt_iic_test(){
-
-    char log_buffer[100]; 
-    send_data_to_ble_client(&log_buffer_1,strlen(log_buffer_1));
-    extern char iic_read_len;
-    extern char iic_write_result;
-    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);  
-	extern void send_data_to_ble_client(const u8* data, u16 length);
-    send_data_to_ble_client(&log_buffer,strlen(log_buffer));
-
-    if(sen_log_buffer_1 != NULL)
-        send_data_to_ble_client(&sen_log_buffer_1,strlen(sen_log_buffer_1));
-    if(sen_log_buffer_2 != NULL)
-        send_data_to_ble_client(&sen_log_buffer_2,strlen(sen_log_buffer_2));
-    if(sen_log_buffer_3 != NULL)
-        send_data_to_ble_client(&sen_log_buffer_3,strlen(sen_log_buffer_3));
-    if(sen_log_buffer_4 != NULL)
-        send_data_to_ble_client(&sen_log_buffer_4,strlen(sen_log_buffer_4));
-    if(sen_log_buffer_5 != NULL)
-        send_data_to_ble_client(&sen_log_buffer_5,strlen(sen_log_buffer_5));
-
-    if(w_log_buffer_1 != NULL)
-        send_data_to_ble_client(&w_log_buffer_1,strlen(w_log_buffer_1));
-    if(w_log_buffer_2 != NULL)
-        send_data_to_ble_client(&w_log_buffer_2,strlen(w_log_buffer_2));
-    if(w_log_buffer_3 != NULL)
-        send_data_to_ble_client(&w_log_buffer_3,strlen(w_log_buffer_3));
-    if(w_log_buffer_4 != NULL)
-        send_data_to_ble_client(&w_log_buffer_4,strlen(w_log_buffer_4));
-    if(w_log_buffer_5 != NULL)
-        send_data_to_ble_client(&w_log_buffer_5,strlen(w_log_buffer_5));
-
-    // SL_SC7U22_Config();
+void uartSendData(void *buf, u16 len) 			//发送数据的接口。
+{
+    #if TCFG_UART0_ENABLE == 0
+    if (uart_bus) {
+        uart_bus->write(buf, len);		//把数据写到DMA
+    }
+    #endif
 }

-#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);
-
-        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);
-        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");
-}
-
-
+/**
+ * @brief 初始化，在xtell_app_main.c的app_main函数被调用
+ * 
+ */
 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);  
+    // int num_chars_written = snprintf(log_buffer_1, sizeof(log_buffer_1),"init iic: %d\n", ret);  
    
    #endif
    
-    gpio_set_direction(IO_PORTE_05,0);          //设置PE5 输出模式
-    gpio_set_pull_up(IO_PORTE_05,1);
-    gpio_direction_output(IO_PORTE_05,1);
-
-    // os_time_dly(10);
-    // 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);

+    circle_buffer_init(&g_ble_send_cb, g_sensor_data_storage, SENSOR_DATA_BUFFER_SIZE, sizeof(ble_send_data_t));

-    ano_protocol_init(115200);
+    os_sem_create(&receiver_ready_sem, 0);

-
-    circle_buffer_init(&sensor_read, sensor_read_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(sensor_data_t));
-
-    circle_buffer_init(&sensor_send, sensor_send_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(BLE_send_data_t));
-
-
-    //初始化滑雪追踪器
-    // SkiingTracker_Init(&skiing_data); 
-    xlog("SkiingTracker_Init\n");
-
-
-    // create_process(&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
+    extern void test_uart_init(void);
+    test_uart_init();

 }
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//test
+//
+
+#define BUFF_LEN 500
+static signed char acc_data_buf[BUFF_LEN] = {0};
+// 1. 定义一个全局的信号量
+static OS_SEM ble_send_sem;
+
+
+int j = 0;
+void sensor_test_task(void){
+    float temperature = 0;
+    float pressure = 0;
+    while(1){
+        WF_GET_Temperature_Pressure(&temperature, &pressure);
+        xlog("temperature: %.3f,pressure: %.3f\n",temperature,pressure);
+        os_time_dly(100);
+    }
+
+}
+static u16 gtest_id = 0;
+void test_func(void){
+    // a. 初始化信号量，初始值为0
+    // os_sem_create(&ble_send_sem, 0);
+
+    // b. 注册回调函数，让协议栈知道在准备好时该调用谁
+    // struct ble_server_operation_t *ble_ops;
+    // ble_get_server_operation_table(&ble_ops);
+    // ble_ops->regist_wakeup_send(NULL, on_ble_can_send);
+    for(int i = 0;i<BUFF_LEN;i++){
+        acc_data_buf[i] = i;
+    }
+
+    // SL_SC7U22_Config();
+    // mmc5603nj_init();
+    #if BMP280
+    BMP280_init();
+    #else
+    WF_Init();
+    #endif
+    // 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");
+    os_task_create(sensor_test_task,NULL,5,1024,32,"sensor_test");
+    // data_send_task();
+}
+
+
--- 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> 
@ -46,6 +51,7 @@ static uint8_t bmp280_read_regs(uint8_t reg, uint8_t *buf, uint16_t len) {
 * @return 补偿后的温度值 (单位: °C)
 */
 static float compensate_temperature(int32_t adc_T) {
+    #if 1
    float var1, var2, temperature;

    var1 = (((float)adc_T) / 16384.0f - ((float)t1) / 1024.0f) * ((float)t2);
@ -59,6 +65,16 @@ static float compensate_temperature(int32_t adc_T) {
    if (temperature > 85.0f) return 85.0f;
    
    return temperature;
+    #else
+    int32_t var1, var2, T;
+	var1 = ((((adc_T>>3) - ((int32_t)t1<<1))) * ((int32_t)t2)) >> 11;
+	var2 = (((((adc_T>>4) - ((int32_t)t1)) * ((adc_T>>4) - ((int32_t)t1))) >> 12) * 
+	((int32_t)t3)) >> 14;
+	t_fine = var1 + var2;
+	T = (t_fine * 5 + 128) >> 8;
+	return (float)(T/100.0f);
+
+    #endif
 }

 /**
@ -67,6 +83,7 @@ static float compensate_temperature(int32_t adc_T) {
 * @return 补偿后的气压值 (单位: Pa)
 */
 static float compensate_pressure(int32_t adc_P) {
+#if 1
    float var1, var2, pressure;

    var1 = ((float)t_fine / 2.0f) - 64000.0f;
@ -90,6 +107,25 @@ static float compensate_pressure(int32_t adc_P) {
    if (pressure > 110000.0f) return 110000.0f;

    return pressure;
+#else
+    int32_t var1, var2, p;
+	var1 = ((int32_t)t_fine) - 128000;
+	var2 = var1 * var1 * (int32_t)p6;
+	var2 = var2 + ((var1*(int32_t)p5)<<17);
+	var2 = var2 + (((int32_t)p4)<<35);
+	var1 = ((var1 * var1 * (int32_t)p3)>>8) + ((var1 * (int32_t)p2)<<12);
+	var1 = (((((int32_t)1)<<47)+var1))*((int32_t)p1)>>33;
+	if (var1 == 0)
+	{
+	return 0; // avoid exception caused by division by zero
+	}
+	p = 1048576-adc_P;
+	p = (((p<<31)-var2)*3125)/var1;
+	var1 = (((int32_t)p9) * (p>>13) * (p>>13)) >> 25;
+	var2 = (((int32_t)p8) * p) >> 19;
+	p = ((p + var1 + var2) >> 8) + (((int32_t)p9)<<4);
+	return (float)(p/256);
+#endif
 }

 /*==================================================================================*/
@ -99,26 +135,27 @@ static float compensate_pressure(int32_t adc_P) {



-uint8_t bmp280_init(void) {
+uint8_t BMP280_init(void) {
    uint8_t id;
    uint8_t calib_data[24];

    // 1. 检查芯片ID
    if (bmp280_read_regs(BMP280_REG_ID, &id, 1) == 0) {
        printf("bmp280 get id error:%d\n",id );            
-        return 1; // I2C读取失败
+        // return 1; // I2C读取失败
    }
    if (id != 0x58) {
        printf("bmp280 check diff:%d\n",id );
-        return 1; // ID不匹配
+        // return 1; // ID不匹配
    }
+    printf("bmp280 get id:0%X\n",id );  

    // 2. 软复位
    bmp280_write_reg(BMP280_REG_RESET, 0xB6);
    os_time_dly(10); // 等待复位完成

    // 3. 一次性读取所有校准参数
-    if (bmp280_read_regs(BMP280_REG_CALIB_START, calib_data, 24) != 0) {
+    if (bmp280_read_regs(BMP280_REG_CALIB_START, calib_data, 24) == 0) {
        return 2; // 读取校准数据失败
    }

@ -147,18 +184,29 @@ uint8_t bmp280_init(void) {

    os_time_dly(10); // 等待配置生效

+    printf("bmp280 init success\n");
    return 0; // 初始化成功
 }

+/**
+ * @brief 获取转换后的温度和压力数据
+ * 
+ * @param temperature 传出，温度
+ * @param pressure 传出，压力
+ * @return uint8_t 
+ */
 uint8_t bmp280_read_data(float *temperature, float *pressure) {
    uint8_t data[6];
    int32_t adc_P, adc_T;

+    // printf("==========debug1===========\n");
    // 一次性读取6个字节的温度和气压原始数据
-    if (bmp280_read_regs(BMP280_REG_PRESS_MSB, data, 6) != 0) {
+    if (bmp280_read_regs(BMP280_REG_PRESS_MSB, data, 6) == 0) {
+        printf("bmp280:read data error\n");
        return 1; // 读取失败
    }

+    // printf("==========debug2===========\n");
    // 组合原始数据 (20位)
    adc_P = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | (((uint32_t)(data[2])) >> 4));
    adc_T = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | (((uint32_t)(data[5])) >> 4));
@ -167,12 +215,33 @@ uint8_t bmp280_read_data(float *temperature, float *pressure) {
    if (adc_T == 0x80000 || adc_P == 0x80000) {
        *temperature = 0.0f;
        *pressure = 0.0f;
+        printf("bmp280:no data\n");
        return 1;
    }

+    // printf("==========debug3===========\n");
    // 进行补偿计算
    *temperature = compensate_temperature(adc_T);
    *pressure = compensate_pressure(adc_P);

    return 0; // 成功
 }
+
+/**
+ * @brief 获取该气压计的原始adc数据
+ * 
+ * @param adc_P 传出，气压
+ * @param adc_T 传出，温度
+ */
+void bmp280_read_originanl_data(int* adc_P, int* adc_T){
+    uint8_t data[6];
+    // 一次性读取6个字节的温度和气压原始数据
+    if (bmp280_read_regs(BMP280_REG_PRESS_MSB, data, 6) != 0) {
+        return; // 读取失败
+    }
+
+    // 组合原始数据 (20位)
+    adc_P = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | (((uint32_t)(data[2])) >> 4));
+    adc_T = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | (((uint32_t)(data[5])) >> 4));
+
+}
--- a/apps/earphone/xtell_Sensor/sensor/BMP280.h
+++ b/apps/earphone/xtell_Sensor/sensor/BMP280.h
@ -8,11 +8,11 @@

 // I2C 从设备地址
 #if BMP_PULL_UP == 1   //外部接的高
-#define BMP_IIC_7BIT_ADDRESS 0x77 //7位,外部接高为0x77
+#define BMP_IIC_7BIT_ADDRESS 0x76 //7位,外部接高低为0x76
 #define BMP_IIC_WRITE_ADDRESS  (BMP_IIC_7BIT_ADDRESS<<1)  //8位地址
 #define BMP_IIC_READ_ADDRESS   (BMP_IIC_WRITE_ADDRESS | 0x01)
 #else
-#define BMP_IIC_7BIT_ADDRESS 0x76  //7位,外部接低为0x76
+#define BMP_IIC_7BIT_ADDRESS 0x77  //7位,外部接GAO为0x77
 #define BMP_IIC_WRITE_ADDRESS  (BMP_IIC_7BIT_ADDRESS<<1)  //8位地址
 #define BMP_IIC_READ_ADDRESS   (BMP_IIC_WRITE_ADDRESS | 0x01)
 #endif
@ -33,7 +33,7 @@
 * @return 0: 成功, 1: 芯片ID错误, 2: 读取校准参数失败
 * @note   此函数会完成ID检查、软复位、读取校准参数，并设置传感器为连续测量模式。
 */
-uint8_t bmp280_init(void);
+uint8_t BMP280_init(void);

 /**
 * @brief 从BMP280读取温度和气压数据
@ -43,4 +43,12 @@ uint8_t bmp280_init(void);
 */
 uint8_t bmp280_read_data(float *temperature, float *pressure);

+/**
+ * @brief 获取该气压计的原始adc数据
+ * 
+ * @param adc_P 传出，气压
+ * @param adc_T 传出，温度
+ */
+void bmp280_read_originanl_data(int* adc_P, int* adc_T);
+
 #endif // BMP280_DRIVER_H
--- 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"
@ -6,6 +10,9 @@
 #include "gSensor/gSensor_manage.h"
 #include "printf.h"

+#define CALIBRATION_TIME 20000  //校准持续时间 ms
+#define SAMPLE_INTERVAL  100    //校准采样间隔
+
 // 用于跟踪当前是否处于连续测量模式
 static uint8_t g_continuous_mode_enabled = 0;
 mmc5603nj_cal_data_t cal_data;  //校准数据
@ -27,9 +34,9 @@ uint8_t mmc5603nj_get_pid(void) {

 int mmc5603nj_init(void) {
    //  ID
-    if (mmc5603nj_get_pid() != 0x80) {
+    if ( mmc5603nj_get_pid() != 0x10) {
        printf("MMC5603NJ init failed: wrong Product ID (read: 0x%X)\n", mmc5603nj_get_pid());
-        return -1;
+        // return 0;
    }

    //  软件复位
@ -38,13 +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
@ -53,19 +62,19 @@ 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;
+}

+void mmc5603nj_start_calibration(void){
    printf("\n--- Magnetometer Calibration Start ---\n");
    printf("Slowly rotate the device in all directions (like drawing a 3D '8')...\n");
    printf("Calibration will last for 20 seconds.\n\n");
    printf("will start after 5 seconds\n\n");
    os_time_dly(500);

-    // 定义校准时长和采样间隔
-    const uint32_t calibration_duration_ms = 20000; // 20秒
-    const uint32_t sample_interval_ms = 100;        // 每100ms采样一次
-
    // 初始化最大最小值
    // 使用一个临时变量来读取数据，避免干扰read函数的正常逻辑
    mmc5603nj_mag_data_t temp_mag_data;
@ -81,7 +90,7 @@ int mmc5603nj_init(void) {

    uint32_t start_time = os_time_get(); // 假设os_time_get()返回毫秒级时间戳
    int samples = 0;
-    int over = calibration_duration_ms/sample_interval_ms;
+    int over = CALIBRATION_TIME/SAMPLE_INTERVAL;

    while (samples <= over) {
        // 读取原始磁力计数据
@ -98,7 +107,7 @@ int mmc5603nj_init(void) {
        if (temp_mag_data.z < min_z) min_z = temp_mag_data.z;
        
        samples++;
-        os_time_dly(sample_interval_ms / 10); // os_time_dly的参数通常是ticks (1 tick = 10ms)
+        os_time_dly(SAMPLE_INTERVAL / 10); 
    }

    // 检查数据范围是否合理，防止传感器未动或故障
@ -106,7 +115,7 @@ int mmc5603nj_init(void) {
        printf("\n--- Calibration Failed ---\n");
        printf("Device might not have been rotated enough.\n");
        printf("X range: %.2f, Y range: %.2f, Z range: %.2f\n", max_x - min_x, max_y - min_y, max_z - min_z);
-        return -1;
+        return;
    }

    // 计算硬磁偏移 (椭球中心)
@ -121,8 +130,6 @@ int mmc5603nj_init(void) {
    printf("  Y: %.4f\n", cal_data.offset_y);
    printf("  Z: %.4f\n", cal_data.offset_z);
    printf("Please save these values and apply them in your code.\n\n");
-
-    return 0;
 }


@ -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;
        }
@ -219,3 +226,41 @@ void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
    mag_data->y -= cal_data.offset_y;
    mag_data->z -= cal_data.offset_z;
 }
+
+
+void mmc5603nj_read_origin_data(uint8_t *buffer) {
+
+    if (g_continuous_mode_enabled) {
+        // 连续模式下，只需检查数据是否就绪
+        uint8_t status = 0;
+        mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
+        if ((status & 0x40) == 0) { // Meas_M_done bit
+            // 数据未就绪，可以选择返回或等待，这里我们直接返回旧数据
+            return;
+        }
+    } else {
+        // 单次测量模式
+        uint8_t status = 0;
+        uint8_t timeout = 20;
+
+        // 触发一次带自动SET/RESET的磁场测量
+        mmc5603nj_write_reg(MMC_INCTRL0, 0x21); // 0b00100001 (TAKE_MEAS_M=1, AUTO_SR_EN=1)
+
+        // 等待测量完成
+        do {
+            os_time_dly(10);
+            mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
+            timeout--;
+        } while ((status & 0x40) == 0 && timeout > 0);
+
+        if (timeout == 0) {
+            printf("Error: Magnetic measurement timeout!\n");
+            return;
+        }
+    }
+
+    // 读取9个字节的原始数据
+    mmc5603nj_read_regs(MMC_XOUT0, buffer, 9);
+
+
+}
--- a/apps/earphone/xtell_Sensor/sensor/MMC56.h
+++ b/apps/earphone/xtell_Sensor/sensor/MMC56.h
@ -36,6 +36,14 @@
 #define MMC_ST_Z                0x29
 #define MMC_PID                 0x39

+// 定义一个结构体来存放三轴磁场数据（原始数据）
+typedef struct {
+    float x;
+    float y;
+    float z;
+} mmc5603nj_original_data_t;
+
+
 // 定义一个结构体来存放三轴磁场数据（单位：高斯 Gauss）
 typedef struct {
    float x;
--- 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, 0x8B);//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, 0xCB);//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

@ -291,7 +295,7 @@ void SL_SC7U22_RawData_Read(signed short * acc_data_buf,signed short * gyr_data_
 unsigned char  Acc_FIFO_Num;
 unsigned char  Gyr_FIFO_Num;

-unsigned char  SL_SC7U22_FIFO_DATA[1024];
+unsigned char  SL_SC7U22_FIFO_DATA[2048];

 unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf,signed short *accz_buf,signed short *gyrx_buf,signed short *gyry_buf,signed short *gyrz_buf)
 {
@ -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)
 	{
@ -341,7 +346,8 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 	SL_SC7U22_I2c_Spi_Read(SL_SPI_IIC_INTERFACE, 0x20,1,&fifo_num2);
 	if((fifo_num1&0x10)==0x10)
 	{
-		fifo_num=2048;
+		// fifo_num=2048; // 原始代码，会导致溢出
+	       fifo_num = 2048; // 传感器FIFO已满，但我们的缓冲区只有1024字节，所以最多读1024字节
 	}
 	else
 	{
@ -349,10 +355,15 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 	}
 #endif
 	
+	   // 增加保护，确保读取的字节数不超过缓冲区大小 (1024 bytes)
+	   // fifo_num 是 word (2 bytes) 的数量, 所以最大值是 512
+	   if (fifo_num > 1024) {
+	       fifo_num = 1024;
+	   }
 	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);
@ -380,7 +391,7 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 			accx_buf[Acc_FIFO_Num]	=	((s16)(SL_SC7U22_FIFO_DATA[i + 0] * 256 + SL_SC7U22_FIFO_DATA[i + 1])) ;
 			accy_buf[Acc_FIFO_Num]	=	((s16)(SL_SC7U22_FIFO_DATA[i + 2] * 256 + SL_SC7U22_FIFO_DATA[i + 3])) ;
 			accz_buf[Acc_FIFO_Num]	=	((s16)(SL_SC7U22_FIFO_DATA[i + 4] * 256 + SL_SC7U22_FIFO_DATA[i + 5])) ;
-			xlog("AccNum : %d  ,Acc_x : %4d, Acc_y : %4d, Acc_z : %4d,\r\n",Acc_FIFO_Num, accx_buf[Acc_FIFO_Num], accy_buf[Acc_FIFO_Num], accz_buf[Acc_FIFO_Num]);	
+			// xlog("AccNum : %d  ,Acc_x : %4d, Acc_y : %4d, Acc_z : %4d,\r\n",Acc_FIFO_Num, accx_buf[Acc_FIFO_Num], accy_buf[Acc_FIFO_Num], accz_buf[Acc_FIFO_Num]);	
 			i = i + 6;
 			Acc_FIFO_Num++;
 		}
@ -390,7 +401,7 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 			gyrx_buf[Gyr_FIFO_Num]	=	((s16)(SL_SC7U22_FIFO_DATA[i + 0] * 256 + SL_SC7U22_FIFO_DATA[i + 1])) ;
 			gyry_buf[Gyr_FIFO_Num]	=	((s16)(SL_SC7U22_FIFO_DATA[i + 2] * 256 + SL_SC7U22_FIFO_DATA[i + 3])) ;
 			gyrz_buf[Gyr_FIFO_Num]	=	((s16)(SL_SC7U22_FIFO_DATA[i + 4] * 256 + SL_SC7U22_FIFO_DATA[i + 5])) ;	
-			xlog("GyrNum : %d, Gyr_x : %4d, Gyr_y : %4d, Gyr_z : %4d,\r\n",Gyr_FIFO_Num, gyrx_buf[Gyr_FIFO_Num], gyry_buf[Gyr_FIFO_Num], gyrz_buf[Gyr_FIFO_Num]);	
+			// xlog("GyrNum : %d, Gyr_x : %4d, Gyr_y : %4d, Gyr_z : %4d,\r\n",Gyr_FIFO_Num, gyrx_buf[Gyr_FIFO_Num], gyry_buf[Gyr_FIFO_Num], gyrz_buf[Gyr_FIFO_Num]);	
 			i = i + 6;
 			Gyr_FIFO_Num++;
 		}
@ -401,8 +412,14 @@ unsigned short SL_SC7U22_FIFO_Read(signed short *accx_buf,signed short *accy_buf
 			i = i + 2;
 		}
 	}
+    if(Acc_FIFO_Num > Gyr_FIFO_Num)
+        fifo_len = Acc_FIFO_Num;
+    else
+        fifo_len = Gyr_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
@ -1167,10 +1184,19 @@ unsigned char Original_SL_SC7U22_Angle_Output(unsigned char calibration_en, sign
    
    return 2; // 校准未完成，返回错误状态
 }
-unsigned char get_calibration_state(void){
+
+unsigned char get_SC7U22_Error_Flag(void){
 	return SL_SC7U22_Error_Flag;
 }

+/**
+ * @brief 设置零漂检测标准位
+ * 
+ * @param flag 0：重新进行零漂检测
+ */
+void set_SC7U22_Error_Flag(char flag){
+	SL_SC7U22_Error_Flag = flag;
+}

 /////////////////////////////////////////////////////////////////////////////////////////////////////////////////

@ -1182,7 +1208,7 @@ unsigned char get_calibration_state(void){
 // Kp: 比例增益，决定了加速度计数据校正陀螺仪的权重。值越大，对加速度计的响应越快，但对运动加速度更敏感。
 // Ki: 积分增益，决定了用于校正陀螺仪静态漂移的权重。
 // Q_dt: 采样时间间隔（单位：秒），这里是10ms (0.01s)，对应100Hz的采样率。
-#define HAVE_MAG 1
+#define HAVE_MAG 0
 #if HAVE_MAG == 0
 // -- 无地磁 --
 const float Kp = 2.0f;
@ -1190,8 +1216,8 @@ const float Ki = 0.005f;
 const float Q_dt = 0.01f;
 #else
 // -- 有地磁 --
-const float Kp = 0.3f;
-const float Ki = 0.001f;
+const float Kp = 2.0f;
+const float Ki = 0.005f;
 const float Q_dt = 0.01f;
 #endif

@ -1233,7 +1259,7 @@ float         Temp_Mag[3] = {0.0f, 0.0f, 0.0f};
 */
 unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, const mmc5603nj_mag_data_t* _mag_data_input, unsigned char yaw_rst, float *quaternion_output)
 {
-#if 1  //有地磁置1
+#if 0  //有地磁置1
    unsigned char sl_i = 0;
    // 如果外部强制禁用校准，则将标志位置1
    if (calibration_en == 0) {
@ -1312,8 +1338,6 @@ unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed shor
                // Error_Mag_f[0] = 0.0f - (float)Sum_Avg_Mag_f[0];
                // Error_Mag_f[1] = 0.0f - (float)Sum_Avg_Mag_f[1];
                // Error_Mag_f[2] = 0.0f - (float)Sum_Avg_Mag_f[2];
-                // xlog("AVG_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Sum_Avg_Accgyro[0], Sum_Avg_Accgyro[1], Sum_Avg_Accgyro[2], Sum_Avg_Accgyro[3], Sum_Avg_Accgyro[4], Sum_Avg_Accgyro[5]);
-                // xlog("Error_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Error_Accgyro[0], Error_Accgyro[1], Error_Accgyro[2], Error_Accgyro[3], Error_Accgyro[4], Error_Accgyro[5]);
            }
        } else {
            SL_SC7U22_Error_cnt2 = 0;
@ -1497,6 +1521,8 @@ unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed shor
                SL_SC7U22_Error_cnt2 = 0;
                SL_SC7U22_Error_cnt = 0;
                for (sl_i = 0; sl_i < 6; sl_i++) Sum_Avg_Accgyro[sl_i] = Sum_Avg_Accgyro[sl_i] / 50;
+
+
                Error_Accgyro[0] = 0 - Sum_Avg_Accgyro[0];
                Error_Accgyro[1] = 0 - Sum_Avg_Accgyro[1];
                #if ACC_RANGE==2
@ -1511,6 +1537,8 @@ unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed shor
                Error_Accgyro[3] = 0 - Sum_Avg_Accgyro[3];
                Error_Accgyro[4] = 0 - Sum_Avg_Accgyro[4];
                Error_Accgyro[5] = 0 - Sum_Avg_Accgyro[5];
+
+                
                // xlog("AVG_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Sum_Avg_Accgyro[0], Sum_Avg_Accgyro[1], Sum_Avg_Accgyro[2], Sum_Avg_Accgyro[3], Sum_Avg_Accgyro[4], Sum_Avg_Accgyro[5]);
                // xlog("Error_Recode AX:%d,AY:%d,AZ:%d,GX:%d,GY:%d,GZ:%d\r\n", Error_Accgyro[0], Error_Accgyro[1], Error_Accgyro[2], Error_Accgyro[3], Error_Accgyro[4], Error_Accgyro[5]);
            }
@ -1583,10 +1611,30 @@ unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed shor
            eyInt = eyInt + ey * Ki * Q_dt;
            ezInt = ezInt + ez * Ki * Q_dt;

+            float kp_dynamic = Kp; // 默认使用全局Kp
+
+            // // 计算重力向量与Z轴的夹角余弦值
+            // // 当设备接近水平时，abs_az_component 接近 1
+            // // 当设备接近垂直时，abs_az_component 接近 0
+            // float abs_az_component = fabsf(az); 
+
+            // // 设置一个阈值，比如当与水平面的夹角大于75度时 (cos(75) approx 0.26)
+            // // 就开始降低Kp
+            // if (abs_az_component < 0.26f) {
+            //     // 线性降低Kp，或者直接使用一个较小的值
+            //     // 越接近垂直，az越小，Kp也越小
+            //     kp_dynamic = Kp * (abs_az_component / 0.26f); 
+            // }
+
            // 使用PI控制器校正陀螺仪的测量值
-            gx = gx + Kp * ex + exInt;
-            gy = gy + Kp * ey + eyInt;
-            gz = gz + Kp * ez + ezInt;
+            gx += kp_dynamic * ex + exInt;
+            gy += kp_dynamic * ey + eyInt;
+            gz += kp_dynamic * ez + ezInt;
+
+            
+            // gx = gx + Kp * ex + exInt;
+            // gy = gy + Kp * ey + eyInt;
+            // gz = gz + Kp * ez + ezInt;
        }

        // 使用校正后的角速度更新四元数 (一阶毕卡法)
--- a/apps/earphone/xtell_Sensor/sensor/SC7U22.h
+++ b/apps/earphone/xtell_Sensor/sensor/SC7U22.h
@ -14,18 +14,18 @@ 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******/
 /**SC7U22的SDO 接地:  0****************/
 /**SC7U22的SDO 接电源:1****************/
-#define SL_SC7U22_SDO_VDD_GND            1
+#define SL_SC7U22_SDO_VDD_GND            0
 /*****************************************/
 /***使用前请根据实际IIC地址配置参数***/
 /**SC7U22的IIC 接口地址为 7bits:  0****/
 /**SC7U22的IIC 接口地址为 8bits:  1****/
-#define SL_SC7U22_IIC_7BITS_8BITS        0
+#define SL_SC7U22_IIC_7BITS_8BITS        1
 /*****************************************/
 #if SL_SC7U22_SDO_VDD_GND==0
 #define SL_SC7U22_IIC_7BITS_ADDR        0x18
@ -131,6 +131,7 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en,signed short *
 /**output Angle_output[2]:   Yaw*******************************/
 /**input  yaw_rst:   reset yaw value***************************/

+void set_SC7U22_Error_Flag(char flag);
 unsigned char Original_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst);
 unsigned char SIX_SL_SC7U22_Angle_Output(unsigned char auto_calib_start, signed short *acc_gyro_input, float *Angle_output, unsigned char yaw_rst);
 unsigned char Q_SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short *acc_gyro_input, float *Angle_output, const mmc5603nj_mag_data_t *mag_data_input, unsigned char yaw_rst, float *quaternion_output);
--- a/apps/earphone/xtell_Sensor/sensor/WF282A.c
+++ b/apps/earphone/xtell_Sensor/sensor/WF282A.c
@ -3,171 +3,225 @@
 */
 #include "wf282a.h"
 #include <math.h>
-#include <stdint.h> // 推荐使用标准类型
-#include "gSensor/gSensor_manage.h"
-
+#include <stdint.h>
+#include "gSensor/gSensor_manage.h" // Assuming this provides gravity_sensor_command and _gravity_sensor_get_ndata
+#define ENABLE_XLOG 1
+#ifdef xlog
+#undef xlog
+#endif
+#if ENABLE_XLOG
+    #define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
+#else
+    #define xlog(format, ...) ((void)0)
+#endif
 /*==================================================================================*/
 /*    WF282A 内部定义                                                               */
 /*==================================================================================*/
-
 // 存储校准系数的静态全局变量
 static int16_t c0, c1, c01, c11, c20, c21, c30;
 static int32_t c00, c10;
-
 /*==================================================================================*/
-/*     封装的底层I2C读写函数                                                         */
+/*     封装的底层I2C读写函数 (Provided by user)                                       */
 /*==================================================================================*/
-
+#define I2C_HANDLE 0
 /**
 * @brief 写入单个字节到WF282A寄存器
 */
 static void wf282a_write_reg(uint8_t reg, uint8_t data) {
+    
    gravity_sensor_command(WF_IIC_WRITE_ADDRESS, reg, data);
 }
-
 /**
 * @brief 从WF282A读取多个字节
 */
 static uint32_t wf282a_read_regs(uint8_t reg, uint8_t *buf, uint8_t len) {
+
    return _gravity_sensor_get_ndata(WF_IIC_READ_ADDRESS, reg, buf, len);
 }

+
 /*==================================================================================*/
 /*    内部辅助函数                                                                  */
 /*==================================================================================*/
-
 /**
 * @brief 从缓冲区中解析所有校准系数
 * @param buf 包含从寄存器0x10开始读取的18个字节的校准数据
 */
 static void parse_calibration_data(const uint8_t *buf) {
    // c0 (12-bit)
-    c0 = ((int16_t)buf[0] << 4) | (buf[1] >> 4);
-    if (c0 & (1 << 11)) c0 |= 0xF000;
+    // 制造商: (tempbuf[0]<<4) + ((tempbuf[1]>>4) & 0x0F);
+    c0 = ((int16_t)buf[0] << 4) | ((buf[1] >> 4) & 0x0F); 
+    // if (c0 & (1 << 11)) c0 |= 0xF000;
+    if(c0 > 0x7ff) c0 = c0 - 0x1000;

    // c1 (12-bit)
+    // 制造商: tempbuf[2] + ((tempbuf[1] & 0x0F)<<8);
    c1 = (((int16_t)buf[1] & 0x0F) << 8) | buf[2]; 
-    if (c1 & (1 << 11)) c1 |= 0xF000;
+    // if (c1 & (1 << 11)) c1 |= 0xF000;
+    if(c1 > 0x7ff) c1 = c1 -0x1000;

    // c00 (20-bit)
-    c00 = ((int32_t)buf[3] << 12) | ((int32_t)buf[4] << 4) | (buf[5] >> 4);
-    if (c00 & (1 << 19)) c00 |= 0xFFF00000;
+    // 制造商: (((u32)((tempbuf[3]<<8) + tempbuf[4]))<<4)+((tempbuf[5]>>4)&0x0F);
+    c00 = ((int32_t)buf[3] << 12) | ((int32_t)buf[4] << 4) | ((buf[5] >> 4) & 0x0F); 
+    // if (c00 & (1 << 19)) c00 |= 0xFFF00000;
+    if(c00 > 0x7ffff) c00 = c00 - 0x100000;

    // c10 (20-bit)
+    // 制造商: (((u32)((tempbuf[5]&0x0F)<<8)+tempbuf[6])<<8)+tempbuf[7];
    c10 = (((int32_t)buf[5] & 0x0F) << 16) | ((int32_t)buf[6] << 8) | buf[7]; 
-    if (c10 & (1 << 19)) c10 |= 0xFFF00000;
+    // if (c10 & (1 << 19)) c10 |= 0xFFF00000;
+    if(c10 > 0x7ffff) c10 = c10 - 0x100000;

    // c01, c11, c20, c21, c30 (16-bit)
    c01 = (int16_t)((uint16_t)buf[8] << 8 | buf[9]);
+    if (c01 > 0x7fff) c01 = c01 - 0x10000; // 制造商的符号扩展
    c11 = (int16_t)((uint16_t)buf[10] << 8 | buf[11]);
+    if (c11 > 0x7fff) c11 = c11 - 0x10000; // 制造商的符号扩展
    c20 = (int16_t)((uint16_t)buf[12] << 8 | buf[13]);
+    if (c20 > 0x7fff) c20 = c20 - 0x10000; // 制造商的符号扩展
    c21 = (int16_t)((uint16_t)buf[14] << 8 | buf[15]);
+    if (c21 > 0x7fff) c21 = c21 - 0x10000; // 制造商的符号扩展
    c30 = (int16_t)((uint16_t)buf[16] << 8 | buf[17]);
+    if (c30 > 0x7fff) c30 = c30 - 0x10000; // 制造商的符号扩展
 }
-
 /**
 * @brief 获取原始温度值 (ADC)
+ * 在连续测量模式下，只需读取数据寄存器，无需触发或等待。
 */
 static int32_t Get_Traw() {
    uint8_t buff[3];
    int32_t Traw;
    // 从 MSB 寄存器 WF_TMP_B2 (0x03) 开始连续读取3个字节
-    wf282a_read_regs(WF_TMP_B2, buff, 3);
+    if (wf282a_read_regs(WF_TMP_B2, buff, 3) != 3) {
+        xlog("Failed to read raw temperature data\n");
+        return 0; // 返回0或一个合适的错误值
+    }
    // buff[0] = B2 (MSB), buff[1] = B1, buff[2] = B0 (LSB)
    Traw = (int32_t)buff[0] << 16 | (int32_t)buff[1] << 8 | (int32_t)buff[2];
    // 24位二进制补码转32位
-    if (Traw & (1 << 23)) {
-        Traw |= 0xFF000000;
-    }
+    // if (Traw & (1 << 23)) {
+    //     Traw |= 0xFF000000;
+    // }
+    if(Traw > 0x7fffff) Traw = Traw - 0x1000000;
    return Traw;
 }
-
 /**
 * @brief 获取原始气压值 (ADC)
+ * 在连续测量模式下，只需读取数据寄存器，无需触发或等待。
 */
 static int32_t Get_Praw() {
    uint8_t buff[3];
    int32_t Praw;
    // 从 MSB 寄存器 WF_PRS_B2 (0x00) 开始连续读取3个字节
-    wf282a_read_regs(WF_PRS_B2, buff, 3);
+    if (wf282a_read_regs(WF_PRS_B2, buff, 3) != 3) {
+        xlog("Failed to read raw pressure data\n");
+        return 0; // 返回0或一个合适的错误值
+    }
    // buff[0] = B2 (MSB), buff[1] = B1, buff[2] = B0 (LSB)
    Praw = (int32_t)buff[0] << 16 | (int32_t)buff[1] << 8 | (int32_t)buff[2];
-    // 24位二进制补码转32位
-    if (Praw & (1 << 23)) {
-        Praw |= 0xFF000000;
-    }
+    // // 24位二进制补码转32位
+    // if (Praw & (1 << 23)) {
+    //     Praw |= 0xFF000000;
+    // }
+    if(Praw > 0x7fffff) Praw = Praw - 0x1000000;
    return Praw;
 }
-
 /*==================================================================================*/
 /* 4. 外部接口函数实现                                                              */
 /*==================================================================================*/
-
 uint8_t WF_Init() {
    uint8_t calib_buf[18];
-    uint8_t check_cfg;
+    xlog("WF282A: soft reset\n");
+    // 1. 软复位
+    // wf282a_write_reg(WF_RESET_REG, 0x09);//0x0C
+    delay(1000); // 复位后等待1000ms

-    // 1. 配置传感器工作模式
-    // 推荐配置：压力8次过采样，温度1次过采样，测量速率16Hz
-    wf282a_write_reg(WF_PRS_CFG, (PM_RATE_16 << 4) | PM_PRC_8);
-    wf282a_write_reg(WF_TMP_CFG, (TMP_RATE_16 << 4) | TMP_PRC_1 | TMP_INT_SENSOR);
-    wf282a_write_reg(WF_MEAS_CFG, 0x07); // 启动连续压力和温度测量
-    wf282a_write_reg(WF_CFG_REG, 0x00);  // 无中断或FIFO移位配置
+    // 读取设备id，确保设备通信正常
+    extern uint8_t WF_GetID();
+    WF_GetID();

-    // 2. 一次性读取所有校准系数 (从0x10到0x21，共18字节)
-    if (wf282a_read_regs(COEF_C0, calib_buf, 18) != 0) {
+    // 2. 读取校准系数
+    if (wf282a_read_regs(COEF_C0, calib_buf, 18) != 18) { //0x10, 检查是否成功读取18字节
+        xlog("Failed to read the calibration coefficient\n");
        return 2; // 读取校准数据失败
    }
    parse_calibration_data(calib_buf);
+    // DEBUG: 打印解析后的校准系数
+    xlog("Parsed Coefficients: c0=%d, c1=%d, c00=%ld, c10=%ld, c01=%d, c11=%d, c20=%d, c21=%d, c30=%d\n",
+         c0, c1, c00, c10, c01, c11, c20, c21, c30);
+
+    #if 0 //连续测量
+    // 配置压力、温度和通用寄存器为连续测量模式
+    wf282a_write_reg(WF_PRS_CFG, (PM_RATE_32 << 4) | PM_PRC_1); //reg: 0x06
+    // 温度配置: 内部传感器 (TMP_INT_SENSOR), 32Hz测量速率 (TMP_RATE_32), 16x过采样 (TMP_PRC_16) -> 0x54
+    wf282a_write_reg(WF_TMP_CFG, TMP_EXT_SENSOR | (TMP_RATE_32 << 4) | TMP_PRC_1); //reg: 0x07
+    // 启动连续测量模式 (同时测量压力和温度)
+    wf282a_write_reg(WF_MEAS_CFG, 0x06);  //reg: 0x08
+    //过采样率大于8要对移位置配置1
+    // wf282a_write_reg(WF_CFG_REG, 0x0C);  //reg: 0x09
+    delay(40); // 稍长一点的延迟，确保传感器开始正常工作
+    #else
+
+    wf282a_write_reg(WF_PRS_CFG,  (PM_RATE_1 << 4) | PM_PRC_128); //reg: 0x06，压力
+    wf282a_write_reg(WF_TMP_CFG, TMP_EXT_SENSOR | (TMP_RATE_1 << 4) | TMP_PRC_128); //reg: 0x07，温度
+    //过采样率大于8要对移位置配置1
+    wf282a_write_reg(WF_CFG_REG, 0x0C);  //reg: 0x09
+    delay(40); // 稍长一点的延迟，确保传感器开始正常工作
+    #endif

-    // 3. 检查配置是否写入成功
-    wf282a_read_regs(WF_MEAS_CFG, &check_cfg, 1);
-    if (check_cfg != 0x07) {
-        return 1; // 错误
-    } else {
    return 0; // 成功
-    }
 }
-
 void WF_Sleep() {
    wf282a_write_reg(WF_MEAS_CFG, 0x00); // 待机模式
 }
-
 void WF_Wakeup() {
-    wf282a_write_reg(WF_MEAS_CFG, 0x07); // 恢复连续测量
+    // 恢复连续测量模式
+    wf282a_write_reg(WF_MEAS_CFG, 0x06); // 启动连续压力和温度测量
+    delay(40); // 恢复后等待一个测量周期
 }
-
 uint8_t WF_GetID() {
    uint8_t id;
-    wf282a_read_regs(WF_ID_REG, &id, 1);
+    if (wf282a_read_regs(WF_ID_REG, &id, 1) != 1) {
+        xlog("Failed to read chip ID\n");
+        return 0; // 返回0或一个合适的错误值
+    }
+    xlog("wf get id : %d\n", id);
    return id;
 }

-float WF_Temperature_Calculate() {
-    float Traw_sc;
-    int32_t Traw = Get_Traw();

-    Traw_sc = (float)Traw / KT; // 缩放原始温度值
-    return (float)c0 * 0.5f + (float)c1 * Traw_sc;
-}

-float WF_Pressure_Calculate() {
-    float Traw_sc, Praw_sc, Pcomp;
+//外部调用
+void WF_GET_Temperature_Pressure(float* temperature, float* precessure){
+    #if 0  //连续测量模式
    int32_t Traw = Get_Traw();
+    xlog("DEBUG: Traw = %ld\n", Traw); 
+    delay(5);
    int32_t Praw = Get_Praw();
+    xlog("DEBUG: Praw = %ld\n", Praw); 
+    #else //单次测量
+    wf282a_write_reg(WF_MEAS_CFG, 0x02); //内部进行一次温度测量
+    delay(500);
+    int32_t Traw = Get_Traw();
+    xlog("DEBUG: Traw = %ld\n", Traw); 
+    wf282a_write_reg(WF_MEAS_CFG, 0x01); //内部进行一次压力测量
+    delay(500);
+    int32_t Praw = Get_Praw();
+    xlog("DEBUG: Praw = %ld\n", Praw); 

-    Traw_sc = (float)Traw / KT; // 缩放原始温度值
-    Praw_sc = (float)Praw / KP; // 缩放原始压力值
+    #endif
    
-    // 公式: 手册给出
-    Pcomp = (float)c00
-            + Praw_sc * ((float)c10 + Praw_sc * ((float)c20 + Praw_sc * (float)c30))
-            + Traw_sc * (float)c01
-            + Traw_sc * Praw_sc * ((float)c11 + Praw_sc * (float)c21);
-
-    return Pcomp;
+    float Traw_sc = (float)Traw / KT;   // 缩放原始温度值
+    double Praw_sc = (double)Praw / KP; // 缩放原始压力值
+    double precessure_tmp = 0;
+    *temperature = (float)c0 * 0.5f + (float)c1 * Traw_sc;
+    precessure_tmp = (double)c00
+                    + Praw_sc * ((double)c10 + Praw_sc * ((double)c20 + Praw_sc * (double)c30))
+                    + Traw_sc * (double)c01
+                    + Traw_sc * Praw_sc * ((double)c11 + Praw_sc + (double)c21);
+    xlog("temperature:%.3f,precessure: %.3f\n",*temperature, precessure_tmp);
+    *precessure = (float)precessure_tmp; // 传出
 }
-
 float WF_Altitude_Calculate() {
    float pressure_pa = WF_Pressure_Calculate();
    // 使用标准大气压公式计算海拔
--- a/apps/earphone/xtell_Sensor/sensor/WF282A.h
+++ b/apps/earphone/xtell_Sensor/sensor/WF282A.h
@ -1,18 +1,26 @@
 #ifndef _WF282A_H_
 #define _WF282A_H_
-
 #include <stdint.h> // 使用标准整数类型

-// 标定值
-#define KT                          524288.0f
+// 标定值 (调整为16x过采样对应的Scale Factor)
+/*
+Oversampling Rate               Scale Factor (kP or kT)
+1 (single)                          524288
+2 times (Low Power)                 1572864
+4 times                             3670016
+8 times                             7864320
+16 times (Standard)                 253952  
+32 times                            516096
+64 times (High Precision)           1040384
+128 times                           2088960
+*/
+#define KT                          1572864.0f  
 #define KP                          1572864.0f 

-
-#define WF_PULL_UP 1  //外部是否接的上拉
-
+#define WF_PULL_UP 0  //外部是否接的上拉
 // I2C 从设备地址
-#if WF_PULL_UP == 1   //外部接的高
-#define WF_IIC_7BIT_ADDRESS 0x77 //7位,外部接高为0x77
+#if WF_PULL_UP == 0   //外部接高为0x77
+#define WF_IIC_7BIT_ADDRESS 0x77
 #define WF_IIC_WRITE_ADDRESS  (WF_IIC_7BIT_ADDRESS<<1)  //8位地址
 #define WF_IIC_READ_ADDRESS   (WF_IIC_WRITE_ADDRESS | 0x01)
 #else
@ -20,9 +28,7 @@
 #define WF_IIC_WRITE_ADDRESS  (WF_IIC_7BIT_ADDRESS<<1)  //8位地址
 #define WF_IIC_READ_ADDRESS   (WF_IIC_WRITE_ADDRESS | 0x01)
 #endif
-
 #define WF_CHIP_ID                  0X10
-
 // 寄存器映射
 // 压力数据
 #define WF_PRS_B2                   0x00
@ -35,14 +41,14 @@
 // 配置寄存器
 #define WF_PRS_CFG                  0x06
 #define WF_TMP_CFG                  0x07
-#define WF_MEAS_CFG                 0x08
+#define WF_MEAS_CFG                 0x08 // This register is used to trigger single measurements
 #define WF_CFG_REG                  0x09
 #define WF_INT_STS                  0x0A
 #define WF_FIFO_STS                 0x0B
 #define WF_RESET_REG                0x0C
 // ID寄存器
 #define WF_ID_REG                   0x0D
-// 校准系数寄存器
+// 校准系数寄存器 (Offsets match manufacturer's i+0x10 access)
 #define COEF_C0                     0x10
 #define COEF_C0_C1                  0x11
 #define COEF_C1                     0x12
@ -63,44 +69,43 @@
 #define COEF_C30_L                  0x21

 // --- 配置宏  ---
-
-// 压力配置 (PRS_CFG[6:4]) - 测量速率
+// 压力配置 (PRS_CFG[6:4]) - 后台测量速率
 #define PM_RATE_1                   0x00 // 1   次/秒
 #define PM_RATE_2                   0x01 // 2   次/秒
 #define PM_RATE_4                   0x02 // 4   次/秒
 #define PM_RATE_8                   0x03 // 8   次/秒
 #define PM_RATE_16                  0x04 // 16  次/秒
-#define PM_RATE_32                  0x05 // 32  次/秒
+#define PM_RATE_32                  0x05 // 32  次/秒  <--- 建议使用此速率
 #define PM_RATE_64                  0x06 // 64  次/秒
 #define PM_RATE_128                 0x07 // 128 次/秒
 // 压力配置 (PRS_CFG[3:0]) - 过采样率
 #define PM_PRC_1                    0x00 // 1   次 (单次)
 #define PM_PRC_2                    0x01 // 2   次 (低功耗)
 #define PM_PRC_4                    0x02 // 4   次
-#define PM_PRC_8                    0x03 // 8   次 (标准)
-#define PM_PRC_16                   0x04 // 16  次 (需要移位)
-#define PM_PRC_32                   0x05 // 32  次 (需要移位)
-#define PM_PRC_64                   0x06 // 64  次 (高精度, 需要移位)
-#define PM_PRC_128                  0x07 // 128 次 (需要移位)
+#define PM_PRC_8                    0x03 // 8   次
+#define PM_PRC_16                   0x04 // 16  次 (标准) <--- 建议使用此过采样率
+#define PM_PRC_32                   0x05 // 32  次
+#define PM_PRC_64                   0x06 // 64  次 (高精度)
+#define PM_PRC_128                  0x07 // 128 次

 // 温度配置 (TMP_CFG[7]) - 传感器源
 #define TMP_EXT_SENSOR              0x80 // 使用外部传感器
 #define TMP_INT_SENSOR              0x00 // 使用内部传感器
-// 温度配置 (TMP_CFG[6:4]) - 测量速率
+// 温度配置 (TMP_CFG[6:4]) - 后台测量速率
 #define TMP_RATE_1                  0x00 // 1   次/秒
 #define TMP_RATE_2                  0x01 // 2   次/秒
 #define TMP_RATE_4                  0x02 // 4   次/秒
 #define TMP_RATE_8                  0x03 // 8   次/秒
 #define TMP_RATE_16                 0x04 // 16  次/秒
-#define TMP_RATE_32                 0x05 // 32  次/秒
+#define TMP_RATE_32                 0x05 // 32  次/秒  <--- 建议使用此速率
 #define TMP_RATE_64                 0x06 // 64  次/秒
 #define TMP_RATE_128                0x07 // 128 次/秒
-// 温度配置 (TMP_CFG[3:0]) - 过采样率
+// 温度配置 (TMP_CFG[2:0]) - 过采样率
 #define TMP_PRC_1                   0x00 // 1   次
 #define TMP_PRC_2                   0x01 // 2   次
 #define TMP_PRC_4                   0x02 // 4   次
 #define TMP_PRC_8                   0x03 // 8   次
-#define TMP_PRC_16                  0x04 // 16  次
+#define TMP_PRC_16                  0x04 // 16  次 <--- 建议使用此过采样率
 #define TMP_PRC_32                  0x05 // 32  次
 #define TMP_PRC_64                  0x06 // 64  次
 #define TMP_PRC_128                 0x07 // 128 次
@ -110,39 +115,39 @@
 * @return 0: 成功, 1: 失败
 */
 uint8_t WF_Init(void);
-
 /**
 * @brief 使传感器进入休眠/待机模式
 */
 void WF_Sleep(void);
-
 /**
 * @brief 唤醒传感器，开始连续测量
+ * 在连续模式下，通常只需要调用一次WF_Init即可，无需频繁调用Wakeup
+ * 如果WF_Sleep被调用，则需要调用WF_Wakeup来恢复连续测量
 */
-void WF_Wakeup(void);
-
+void WF_Wakeup(void); // Reinstated for continuous mode control
 /**
 * @brief 获取传感器芯片ID
 * @return 芯片ID (应为 0x10)
 */
 uint8_t WF_GetID(void);
-
 /**
 * @brief 计算并返回当前海拔高度
 * @return 海拔高度 (单位: 米)
 */
 float WF_Altitude_Calculate(void);
-
 /**
 * @brief 计算并返回补偿后的压力值
 * @return 压力 (单位: Pa)
 */
 float WF_Pressure_Calculate(void);
-
 /**
 * @brief 计算并返回补偿后的温度值
 * @return 温度 (单位: °C)
 */
 float WF_Temperature_Calculate(void);
+void WF_GET_Temperature_Pressure(float* temperature, float* precessure);
+
+// Added Delay_xms prototype (assuming it's implemented in .c file or globally)
+void Delay_xms(uint8_t delay);

 #endif // _WF282A_H_
--- a/apps/earphone/xtell_Sensor/xtell.h
+++ b/apps/earphone/xtell_Sensor/xtell.h
@ -1,9 +1,12 @@
 #ifndef XTELL_H
 #define XTELL_H
-
+#include "system/includes.h"
+#include "generic/typedef.h"
 // #define KS_BLE 1
 #define XTELL_TEST 1

 #define ACC_RANGE  16 //g，加速度满量程:2、4、8、16

+#define BMP280 0
+
 #endif
--- a/apps/earphone/xtell_Sensor/xtell_handler.c
+++ b/apps/earphone/xtell_Sensor/xtell_handler.c
@ -49,6 +49,8 @@
 #include "./sensor/MMC56.h"
 #include "./sensor/BMP280.h"
 #include "./sensor/AK8963.h"
+#include "./sensor/WF282A.h"
+#include "./calculate/skiing_tracker.h"
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //宏定义
 #define LOG_TAG_CONST       EARPHONE
@ -82,15 +84,31 @@ extern u8 init_ok;
 extern u8 sniff_out;
 unsigned char xtell_bl_state=0;   //存放经典蓝牙的连接状态，0断开，1是连接
 u8 bt_newname =0;
-unsigned char xt_ble_new_name[9] = "CM-22222";
+unsigned char xt_ble_new_name[9] = "AAAAA";
 static u16 play_poweron_ok_timer_id = 0;
+
+// -- 初始化标志位 --
+u8 SC7U22_init = 0x10;     //六轴是否初始化
+u8 MMC5603nj_init = 0x20;  //地磁是否初始化
+u8 barometer_init = 0x30;   //气压计初始化
+u8 foot_init = 0x40;  //数据来源初始化：左脚0x41 or 右脚0x42
+// -- 线程id --
+
+
+u16 gsensor_test_id = 0;
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
 extern int bt_hci_event_handler(struct bt_event *bt);
-
+extern void SC7U22_static_calibration(void);
+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);
+extern void start_collect_fuc(void);
+extern void BLE_send_fuc(void);
+extern void start_calibration(void);
+extern void start_clloct(void);
+extern void stop_clloct(void);
+extern void set_foot_state(u8 state);
+extern void stop_calibration(void);
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 /*
 * 模式状态机, 通过start_app()控制状态切换
@ -174,6 +192,120 @@ 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
+                        if(BMP280_init() != 0){
+                            //初始化失败
+                            barometer_init = 0x30;
+                            send2_0[4] = barometer_init;
+                            send_data_to_ble_client(&send2_0,5);
+                            return;
+                        }
+                        barometer_init = 0x31;
+                        send2_0[4] = barometer_init;  //气压计初始化成功
+                        send_data_to_ble_client(&send2_0,5);
+                        #else
+                        if(WF_Init() != 0){
+                            //初始化失败
+                            barometer_init = 0x30;
+                            send2_0[4] = barometer_init;
+                            send_data_to_ble_client(&send2_0,5);
+                            return;
+                        }
+                        barometer_init = 0x31;
+                        send2_0[4] = barometer_init;  //气压计初始化成功
+                        send_data_to_ble_client(&send2_0,5);
+                        #endif
+                    }
+                    break;
+                case 0x01: //设置传感器采集对象：左脚or右脚
+                    u8 send2_1[5] = {0xBB,0xBE,0x06,0x05,0x00};
+                    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] = barometer_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 || barometer_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)
@ -203,49 +335,97 @@ void le_user_app_event_handler(struct sys_event* event){
                if(event->u.app.buffer[2] == 0x01){      //后面的数据长度 1
                    switch (event->u.app.buffer[3]){
                        case 0x01:
-                            char* send_start = "will start after 5 seconds\n";
-                            send_data_to_ble_client(send_start,strlen(send_start));
-                            
-                            if (mmc5603nj_init() != 0) {
-                                xlog("MMC5603NJ initialization failed!\n");
-                                char* send_error = "calibration error\n";
-                                send_data_to_ble_client(send_error,strlen(send_error));
+                            // 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);
                            }
-                            xlog("MMC5603NJ PID: 0x%02X\n", mmc5603nj_get_pid());
-                            char* send_tmp = "8th calibration completed\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
                            break;
                        case 0x02:
-                            extern void create_process(u16* pid,char* name, void *priv, void (*func)(void *priv), u32 msec);
-                            extern void sensor_measure(void);
-                            static int test_id;
-                            SL_SC7U22_Config();
-                            create_process(&test_id, "test",NULL, sensor_measure, 10);
-                            send_tmp = "start_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x03:
-                            extern void start_detection(void);
-                            start_detection();
-                            send_tmp = "start_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x04:
-                            extern void stop_detection(void);
-                            stop_detection();
-                            send_tmp = "stop_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x05:
-                            extern void clear_speed(void);
-                            clear_speed();
-                            send_tmp = "Reset speed and distances to zero\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            
+                            extern void test_func(void);
+                            test_func();
                            break;
                        default:
                            break;
-                        
+                    }
+                }else if(event->u.app.buffer[2] == 0x02){  //后面数据长度为2
+                    switch (event->u.app.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(event->u.app.buffer[4] == 0x01){  //六轴
+                                // stop_calibration();
+                                if (SL_SC7U22_Config() == 0) {
+                                    SC7U22_init = 0x10;  //初始化失败
+                                }else{
+                                    SC7U22_init = 0x11;
+                                }
+                                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;
+                                    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(event->u.app.buffer[4] == 0x03){  //气压计初始化
+                                if(BMP280_init() != 0){
+                                    //初始化失败
+                                    barometer_init = 0x30;
+                                    send2_0[4] = barometer_init;
+                                    send_data_to_ble_client(&send2_0,5);
+                                    return;
+                                }
+                                barometer_init = 0x31;
+                                send2_0[4] = barometer_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(event->u.app.buffer[4] == 0x01){ //设定数据来源是左脚
+                                foot_init = 0x41; 
+                            }else if(event->u.app.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(event->u.app.buffer[4] == 0x01){  //六轴
+                                send2_2[4] = SC7U22_init;
+                            }else if(event->u.app.buffer[4] == 0x02){  //地磁
+                                send2_2[4] = MMC5603nj_init;
+                            }else if(event->u.app.buffer[4] == 0x03){  //气压计
+                                send2_2[4] = barometer_init;
+                            }
+                            send_data_to_ble_client(&send2_2,5);
+                            break;
+                        case 0x03:  //开始/停止滑雪计算 
+                            if(event->u.app.buffer[4] == 0x01){  //开始滑雪计算
+                                if(SC7U22_init == 0x10 || MMC5603nj_init == 0x20 || barometer_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(event->u.app.buffer[4] == 0x02){ //停止滑雪计算
+                                stop_clloct();
+                            }
+                            break;
                    }
                }
            }
--- a/cpu/br28/sdk.ld
+++ b/cpu/br28/sdk.ld
@ -253,6 +253,7 @@
  _MASK_MEM_BEGIN = ABSOLUTE(0x19fc00);
  _MASK_MEM_SIZE = ABSOLUTE(0x1a4);

+
 EXTERN(
 _start

@ -274,25 +275,14 @@ cvsd_decoder


 pcm_decoder
-
-
-
-
-
-
-
-mp3_decoder
 wtgv2_decoder
-
-
-
-aac_decoder
 cvsd_encoder



 msbc_encoder
 audio_dac_driver
+
 );

 UPDATA_SIZE = 0x80;
@ -428,6 +418,7 @@ SECTIONS
        battery_notify_begin = .;
        *(.battery_notify)
        battery_notify_end = .;
+
  . = ALIGN(4);
  __VERSION_BEGIN = .;
        KEEP(*(.sys.version))
@ -518,6 +509,7 @@ SECTIONS
 *(.audio_track_data)
 *(.audio_adc_data)

+
  . = ALIGN(4);
        *(.data*)

@ -726,6 +718,7 @@ SECTIONS

    } > ram0

+
 data_code_pc_limit_end = .;
 __report_overlay_end = .;

@ -815,6 +808,7 @@ SECTIONS
 }


+
 SECTIONS
 {
    .data : ALIGN(4)
@ -846,6 +840,7 @@ SECTIONS

    UPDATE_CODE_TOTAL_SIZE = update_code_end - update_code_start;
 }
+
 SECTIONS
 {
    .data : ALIGN(4)
@ -948,6 +943,7 @@ BTSTACK_LE_HOST_MESH_RAM_TOTAL = BTSTACK_LE_HOST_MESH_DATA_SIZE + BTSTACK_LE_HOS
 BTSTACK_LE_HOST_MESH_FLASH_TOTAL = BTSTACK_LE_HOST_MESH_CODE_SIZE;

 BTSTACK_CODE_SIZE = (btstack_code_end - btstack_code_start) + (btstack_data_end - btstack_data_start);
+
 SECTIONS
 {
    .data : ALIGN(4)
@ -1241,6 +1237,7 @@ SECTIONS
  *(.os_code)
    } > ram0
 }
+
 SECTIONS
 {
    .data : ALIGN(4)
@ -1450,6 +1447,7 @@ SECTIONS
    BTCTLER_RAM_TOTAL = (btctler_data_end - btctler_data_start) + (btctler_bss_end - btctler_bss_start);
    BTCTLER_CODE_TOTAL = (btctler_code_end - btctler_code_start);
 }
+
 SECTIONS
 {
    .data : ALIGN(4)
@ -1567,6 +1565,7 @@ SECTIONS
        *(.timer.text.cache.L1)
        *(.gpio.text.cache.L1)
        *(.iic_hw.text.cache.L1)
+
        driver_data_code_end = .;
  . = ALIGN(4);
    } > ram0
@ -1577,6 +1576,7 @@ SECTIONS
    DRIVER_DATA_CODE_TOTAL = (driver_data_code_end - driver_data_code_start);

 }
+
 SECTIONS
 {
    .data : ALIGN(4)
@ -2016,6 +2016,7 @@ SECTIONS
 } > ram0
 }

+
 text_begin = ADDR(.text);
 text_size = SIZEOF(.text);
 text_end = text_begin + text_size;
--- a/cpu/br28/sdk_used_list.used
+++ b/cpu/br28/sdk_used_list.used
@ -33,19 +33,7 @@ cvsd_decoder


 pcm_decoder
-
-
-
-
-
-
-
-mp3_decoder
 wtgv2_decoder
-
-
-
-aac_decoder
 cvsd_encoder


--- a/cpu/br28/tools/$1.lst
+++ b/cpu/br28/tools/$1.lst
--- a/cpu/br28/tools/app.bin
+++ b/cpu/br28/tools/app.bin
--- a/cpu/br28/tools/data_code.bin
+++ b/cpu/br28/tools/data_code.bin
--- a/cpu/br28/tools/download.bat
+++ b/cpu/br28/tools/download.bat
@ -61,4 +61,4 @@ copy /b text.bin + data.bin + mov_slot.bin + data_code.bin + aec.bin + aac.bin +

 del !bankfiles! common.bin text.bin data.bin bank.bin
 copy eq_cfg_hw_less.bin eq_cfg_hw.bin
-call download/earphone/download_app_ota.bat
+call download/earphone/download.bat
--- a/cpu/br28/tools/download/earphone/download.bat
+++ b/cpu/br28/tools/download/earphone/download.bat
@ -10,7 +10,7 @@ copy ..\..\ota.bin .
 copy ..\..\anc_coeff.bin .
 copy ..\..\anc_gains.bin .

-..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br28 -boot 0x120000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin -res ..\..\cfg_tool.bin tone.cfg p11_code.bin ..\..\eq_cfg_hw.bin -uboot_compress -key AC69.key -format all -key 646-AC690X-7603.key
+..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br28 -boot 0x120000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin -res ..\..\cfg_tool.bin tone.cfg p11_code.bin ..\..\eq_cfg_hw.bin -uboot_compress  -format all -key 646-AC690X-7603.key

@REM..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br34 -boot 0x20000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin ..\..\cfg_tool.bin -res tone.cfg kws_command.bin p11_code.bin -uboot_compress

--- a/cpu/br28/tools/download/earphone/download_app_ota.bat
+++ b/cpu/br28/tools/download/earphone/download_app_ota.bat
@ -10,7 +10,7 @@ copy ..\..\ota.bin .
 copy ..\..\anc_coeff.bin .
 copy ..\..\anc_gains.bin .

-..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br28 -boot 0x120000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin -res ..\..\cfg_tool.bin tone.cfg p11_code.bin ..\..\eq_cfg_hw.bin -uboot_compress -key 646-AC690X-7603.key
+..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br28 -boot 0x120000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin -res ..\..\cfg_tool.bin tone.cfg p11_code.bin ..\..\eq_cfg_hw.bin -uboot_compress 

@REM..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br34 -boot 0x20000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin ..\..\cfg_tool.bin -res tone.cfg kws_command.bin p11_code.bin -uboot_compress

--- a/cpu/br28/tools/download/earphone/download_old_key.bat
+++ b/cpu/br28/tools/download/earphone/download_old_key.bat
@ -11,7 +11,7 @@ copy ..\..\anc_coeff.bin .
 copy ..\..\anc_gains.bin .

 :: -format all -key AC690X-8029.key
-..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br28 -boot 0x120000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin -res ..\..\cfg_tool.bin tone.cfg p11_code.bin ..\..\eq_cfg_hw.bin -uboot_compress -key AC690X-8029.key
+..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br28 -boot 0x120000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin -res ..\..\cfg_tool.bin tone.cfg p11_code.bin ..\..\eq_cfg_hw.bin -uboot_compress 

@REM..\..\isd_download.exe ..\..\isd_config.ini -tonorflash -dev br34 -boot 0x20000 -div8 -wait 300 -uboot ..\..\uboot.boot -app ..\..\app.bin ..\..\cfg_tool.bin -res tone.cfg kws_command.bin p11_code.bin -uboot_compress

--- a/cpu/br28/tools/download/earphone/jl_isd.bin
+++ b/cpu/br28/tools/download/earphone/jl_isd.bin
--- a/cpu/br28/tools/download/earphone/jl_isd.fw
+++ b/cpu/br28/tools/download/earphone/jl_isd.fw
--- a/cpu/br28/tools/download/earphone/update.ufw
+++ b/cpu/br28/tools/download/earphone/update.ufw
--- a/cpu/br28/tools/isd_config.ini
+++ b/cpu/br28/tools/isd_config.ini
@ -14,13 +14,12 @@


 [EXTRA_CFG_PARAM]
-NEW_FLASH_FS = YES;
-
-
-
-
-

+BR22_TWS_DB = YES;
+FLASH_SIZE = 0x100000;
+BR22_TWS_VERSION = 0;
+FORCE_4K_ALIGN = YES;
+SPECIAL_OPT = 0;
 CHIP_NAME = AC701N;
 ENTRY = 0x6000100;
 PID = AC701N;
@ -63,6 +62,12 @@ SPI = 2_3_0_0;
 UTTX = PB02;
 UTBD = 1000000;
 UTRX = PP00;
+
+
+
+
+
+RESET = PA04_01_0;
 [FW_ADDITIONAL]
 FILE_LIST = (file = ota.bin: type = 100);
 [RESERVED_CONFIG]
--- a/cpu/br28/tools/isd_config_rule.c
+++ b/cpu/br28/tools/isd_config_rule.c
@ -205,7 +205,7 @@ UTRX = CONFIG_UART_UPDATE_PIN; //串口升级[PB00 PB05 PA05]
 /* RESET = CAT3(CONFIG_RESET_PIN, CONFIG_RESET_TIME, CONFIG_RESET_LEVEL);	//port口_长按时间_有效电平（长按时间有00、01、02、04、08三个值可选，单位为秒，当长按时间为00时，则关闭长按复位功能。） */

 #ifdef CONFIG_SUPPORT_RESET1
-RESET1 = CAT3(CONFIG_RESET1_PIN, CONFIG_RESET1_TIME, CONFIG_RESET1_LEVEL);	//port口_长按时间_有效电平（长按时间有00、01、02、04、08三个值可选，单位为秒，当长按时间为00时，则关闭长按复位功能。）
+RESET = CAT3(CONFIG_RESET1_PIN, CONFIG_RESET1_TIME, CONFIG_RESET1_LEVEL);	//port口_长按时间_有效电平（长按时间有00、01、02、04、08三个值可选，单位为秒，当长按时间为00时，则关闭长按复位功能。）
 #endif

 #ifdef CONFIG_VDDIO_LVD_LEVEL
--- a/cpu/br28/tools/rom.lst
+++ b/cpu/br28/tools/rom.lst
--- a/cpu/br28/tools/sdk.elf
+++ b/cpu/br28/tools/sdk.elf
--- a/cpu/br28/tools/sdk.elf.0.0.preopt.bc
+++ b/cpu/br28/tools/sdk.elf.0.0.preopt.bc
--- a/cpu/br28/tools/sdk.elf.0.2.internalize.bc
+++ b/cpu/br28/tools/sdk.elf.0.2.internalize.bc
--- a/cpu/br28/tools/sdk.elf.0.4.opt.bc
+++ b/cpu/br28/tools/sdk.elf.0.4.opt.bc
--- a/cpu/br28/tools/sdk.elf.0.5.precodegen.bc
+++ b/cpu/br28/tools/sdk.elf.0.5.precodegen.bc
--- a/cpu/br28/tools/sdk.elf.o
+++ b/cpu/br28/tools/sdk.elf.o
--- a/cpu/br28/tools/sdk.elf.objs.txt
+++ b/cpu/br28/tools/sdk.elf.objs.txt
--- a/cpu/br28/tools/sdk.elf.resolution.txt
+++ b/cpu/br28/tools/sdk.elf.resolution.txt
--- a/cpu/br28/tools/sdk.lst
+++ b/cpu/br28/tools/sdk.lst
--- a/cpu/br28/tools/sdk.map
+++ b/cpu/br28/tools/sdk.map
--- a/include_lib/btctrler/port/br28/btcontroller_config.h
+++ b/include_lib/btctrler/port/br28/btcontroller_config.h
@ -19,16 +19,17 @@
 #include "ble/ll_config.h"

 // #define CONFIG_LE_FEATURES \
-(\
- LE_ENCRYPTION | \
- LE_CORE_V50_FEATURES \
-)
+// (\
+//  LE_ENCRYPTION | \
+//  LE_CORE_V50_FEATURES \
+// )

-#define CONFIG_LE_FEATURES      0//(LE_ENCRYPTION)
+// #define CONFIG_LE_FEATURES       (LE_CORE_V50_FEATURES | LE_DATA_PACKET_LENGTH_EXTENSION)//(LE_ENCRYPTION)
+#define CONFIG_LE_FEATURES 0

 // #define CONFIG_LE_ROLES                            (LE_ADV|LE_SCAN|LE_INIT|LE_SLAVE|LE_MASTER)
-// #define CONFIG_LE_ROLES                            (LE_ADV|LE_SCAN)
-#define CONFIG_LE_ROLES                            (LE_ADV)
+#define CONFIG_LE_ROLES                            (LE_ADV|LE_SCAN)
+// #define CONFIG_LE_ROLES                            (LE_ADV)

 #include "classic/lmp_config.h"

--- a/obj/Release/apps/common/audio/amplitude_statistic.o
+++ b/obj/Release/apps/common/audio/amplitude_statistic.o
--- a/obj/Release/apps/common/audio/audio_dvol.o
+++ b/obj/Release/apps/common/audio/audio_dvol.o
--- a/obj/Release/apps/common/audio/audio_export_demo.o
+++ b/obj/Release/apps/common/audio/audio_export_demo.o
--- a/obj/Release/apps/common/audio/audio_noise_gate.o
+++ b/obj/Release/apps/common/audio/audio_noise_gate.o
--- a/obj/Release/apps/common/audio/audio_ns.o
+++ b/obj/Release/apps/common/audio/audio_ns.o
--- a/obj/Release/apps/common/audio/audio_plc.o
+++ b/obj/Release/apps/common/audio/audio_plc.o
--- a/obj/Release/apps/common/audio/audio_utils.o
+++ b/obj/Release/apps/common/audio/audio_utils.o
--- a/obj/Release/apps/common/audio/decode/audio_key_tone.o
+++ b/obj/Release/apps/common/audio/decode/audio_key_tone.o
--- a/obj/Release/apps/common/audio/decode/decode.o
+++ b/obj/Release/apps/common/audio/decode/decode.o
--- a/obj/Release/apps/common/audio/demo/audio_demo.o
+++ b/obj/Release/apps/common/audio/demo/audio_demo.o
--- a/obj/Release/apps/common/audio/online_debug/aud_data_export.o
+++ b/obj/Release/apps/common/audio/online_debug/aud_data_export.o
--- a/obj/Release/apps/common/audio/online_debug/aud_mic_dut.o
+++ b/obj/Release/apps/common/audio/online_debug/aud_mic_dut.o
--- a/obj/Release/apps/common/audio/online_debug/aud_spatial_effect_dut.o
+++ b/obj/Release/apps/common/audio/online_debug/aud_spatial_effect_dut.o
--- a/obj/Release/apps/common/audio/online_debug/audio_online_debug.o
+++ b/obj/Release/apps/common/audio/online_debug/audio_online_debug.o
--- a/obj/Release/apps/common/audio/sine_make.o
+++ b/obj/Release/apps/common/audio/sine_make.o
--- a/obj/Release/apps/common/audio/uartPcmSender.o
+++ b/obj/Release/apps/common/audio/uartPcmSender.o
--- a/obj/Release/apps/common/audio/wm8978/iic.o
+++ b/obj/Release/apps/common/audio/wm8978/iic.o
--- a/obj/Release/apps/common/audio/wm8978/wm8978.o
+++ b/obj/Release/apps/common/audio/wm8978/wm8978.o
--- a/obj/Release/apps/common/bt_common/bt_test_api.o
+++ b/obj/Release/apps/common/bt_common/bt_test_api.o
--- a/obj/Release/apps/common/cJSON/cJSON.o
+++ b/obj/Release/apps/common/cJSON/cJSON.o
--- a/obj/Release/apps/common/config/app_config.o
+++ b/obj/Release/apps/common/config/app_config.o
--- a/obj/Release/apps/common/config/bt_profile_config.o
+++ b/obj/Release/apps/common/config/bt_profile_config.o
--- a/obj/Release/apps/common/config/ci_transport_uart.o
+++ b/obj/Release/apps/common/config/ci_transport_uart.o
--- a/obj/Release/apps/common/config/new_cfg_tool.o
+++ b/obj/Release/apps/common/config/new_cfg_tool.o
--- a/obj/Release/apps/common/debug/debug.o
+++ b/obj/Release/apps/common/debug/debug.o
--- a/obj/Release/apps/common/debug/debug_lite.o
+++ b/obj/Release/apps/common/debug/debug_lite.o
--- a/obj/Release/apps/common/dev_manager/dev_manager.o
+++ b/obj/Release/apps/common/dev_manager/dev_manager.o
--- a/obj/Release/apps/common/dev_manager/dev_reg.o
+++ b/obj/Release/apps/common/dev_manager/dev_reg.o
--- a/obj/Release/apps/common/dev_manager/dev_update.o
+++ b/obj/Release/apps/common/dev_manager/dev_update.o
--- a/obj/Release/apps/common/device/gSensor/SC7A20.o
+++ b/obj/Release/apps/common/device/gSensor/SC7A20.o
--- a/obj/Release/apps/common/device/gSensor/STK8321.o
+++ b/obj/Release/apps/common/device/gSensor/STK8321.o
--- a/obj/Release/apps/common/device/gSensor/da230.o
+++ b/obj/Release/apps/common/device/gSensor/da230.o
--- a/obj/Release/apps/common/device/gSensor/gSensor_manage.o
+++ b/obj/Release/apps/common/device/gSensor/gSensor_manage.o
--- a/obj/Release/apps/common/device/gSensor/mpu6050.o
+++ b/obj/Release/apps/common/device/gSensor/mpu6050.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_enc/gx8002_enc.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_enc/gx8002_enc.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_npu.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_npu.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_npu_event_deal.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_npu_event_deal.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/app_upgrade/gx_uart_upgrade_app.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/app_upgrade/gx_uart_upgrade_app.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/app_upgrade/gx_uart_upgrade_tws.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/app_upgrade/gx_uart_upgrade_tws.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/gx_uart_upgrade.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/gx_uart_upgrade.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/gx_uart_upgrade_porting.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/gx_uart_upgrade_porting.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/sdfile_upgrade/gx_uart_upgrade_sdfile.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/sdfile_upgrade/gx_uart_upgrade_sdfile.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/spp_upgrade/gx_fifo.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/spp_upgrade/gx_fifo.o
--- a/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/spp_upgrade/gx_uart_upgrade_spp.o
+++ b/obj/Release/apps/common/device/gx8002_npu/gx8002_upgrade/spp_upgrade/gx_uart_upgrade_spp.o
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
lmx	5ecd42b5cf	气压计1s读一次，过采样率128，测量成功	2025-12-10 19:17:54 +08:00
lmx	d92818a894	cun	2025-12-10 16:21:41 +08:00
lmx	3b36715264	cun	2025-12-10 11:11:36 +08:00
lmx	c398dd9eeb	cun	2025-12-10 10:23:21 +08:00
lmx	0feb648d11	wf282A读数有问题	2025-12-09 19:28:20 +08:00
lmx	5a72132d2a	cun	2025-12-09 17:02:07 +08:00
lmx	2f4e1d7e5b	cun	2025-12-09 16:30:25 +08:00
lmx	3f02a9f9be	cun	2025-12-09 11:21:08 +08:00
lmx	6ce9deebe6	cun	2025-12-09 11:16:49 +08:00
lmx	96891516b8	cun	2025-12-09 11:10:52 +08:00
lmx	52e4b62b53	cun	2025-12-09 11:04:18 +08:00
lmx	ea610c24d3	串口输出原始数据到上位机验证	2025-12-09 09:59:41 +08:00
lmx	45158aebcf	cun	2025-12-05 19:37:31 +08:00
lmx	138275a04b	cun	2025-12-05 19:06:54 +08:00
lmx	89f1c93f74	蓝牙发送速率提升	2025-12-04 18:51:38 +08:00
lmx	8c2db49083	iic速率调整到400k	2025-12-02 10:24:01 +08:00
lmx	627780ea20	11月28日发客户的版本	2025-11-28 18:13:35 +08:00
lmx	ade4b0a1f8	feat: Add rfid feature and .gitignore file	2025-11-28 16:25:35 +08:00
lmx	818e8c3778	chore: Remove tracked build artifacts	2025-11-28 16:24:27 +08:00
lmx	892ed9267b	feat: Add rfid feature and .gitignore file	2025-11-28 16:23:06 +08:00
lmx	4af4f13ac6	存档	2025-11-25 18:52:49 +08:00
lmx	4c5da2298f	数据按照小端模式发送	2025-11-25 18:01:17 +08:00
lmx	5c7d9ab822	cun	2025-11-25 15:27:26 +08:00
lmx	60a4e95386	cun	2025-11-25 14:27:19 +08:00
lmx	845cc33fe8	gitignore	2025-11-25 14:16:22 +08:00
lmx	f3710fbb4b	蓝牙协议完成	2025-11-21 18:50:19 +08:00
lmx	91b08dbe47	差气压计的蓝牙协议	2025-11-21 17:10:36 +08:00
lmx	591e7632d2	cun	2025-11-21 15:17:10 +08:00
lmx	baa5979ee1	暂存：数据发送协议完善中	2025-11-21 14:54:21 +08:00
lmx	bdadd5de1e	cun	2025-11-21 10:53:47 +08:00