skiing_mtp

.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

.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"
-    }
-}

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");

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 {
-        // printf("Insufficient buffer space to send data: Length %d\n", length);
-    }
-}
+    // } else {
+    //     printf("Insufficient buffer space to send data: Length %d\n", length);
+    // }
+}
+#endif
+
+
+
+

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;

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
 
 

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
 
 

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 },

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)

apps/earphone/board/br28/board_jl701n_demo_cfg.h

@@ -21,12 +21,12 @@
 //*********************************************************************************//
 //                                 UART配置                                        //
 //*********************************************************************************//
-#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_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_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                                        //
@@ -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                    1000000                                 //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
@@ -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)

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
 

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

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();

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
 
 /*-----------------------------------------------------------*/

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;
 }

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

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];
+    // 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));
+    
+    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 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];
-    // remove_gravity_in_device_frame(acc_device_ms2,angle,tmp_device_acc);
-    // transform_acc_to_world_frame(acc_device_ms2,angle,tmp_world_acc);
+    // 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);
 
-    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);
-
-    // 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]);
+    // 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);
 }
 

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

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 +26,10 @@
 #include "./sensor/MMC56.h"
 #include "./sensor/BMP280.h"
 #include "./sensor/AK8963.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 +41,12 @@
 #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
+
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -42,496 +54,329 @@
 //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(){
-    
-    // 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");
+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;
+
+    while(1){//4组地磁数据、16组六轴数据、1组气压计数据
+        interval++;
+        mmc5603nj_read_mag_data(&mmc5603nj_buffer);
+        for(int i = (interval-1)*4; i < interval*4; i++){
+            send_data.sensor_package[i].mmc5603nj_buffer[0] = (int32_t)(mmc5603nj_buffer.x * 1000.0f);
+            send_data.sensor_package[i].mmc5603nj_buffer[1] = (int32_t)(mmc5603nj_buffer.y * 1000.0f);
+            send_data.sensor_package[i].mmc5603nj_buffer[2] = (int32_t)(mmc5603nj_buffer.z * 1000.0f);
+        }
+        // xlog("MAG x: %.2f,y: %.2f,z: %.2f\n",mmc5603nj_buffer.x,mmc5603nj_buffer.y,mmc5603nj_buffer.z);
+
+        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
+
+            // 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
+        }
+        SL_data_index += MPU_FIFO_LEN/4;
+
+
+        if(interval >= 4){ 
+            interval = 0;
+            SL_data_index = 0;
+            // bmp280_read_data(&temperature, &pressure);//每40ms读取一次
+            for(int i = 0;i<MPU_FIFO_LEN;i++){
+                send_data.sensor_package[i].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];
     
-    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));
+    // 解析包索引
+    uint8_t package_index = data[3];
+    printf("--- Parsing Data Packet Index: %d ---\n", package_index);
 
-    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);
+    uint8_t* p = &data[4]; // 指向数据负载的起始位置
 
-        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);
+    // 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;
         }
-        count++;
+        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);
+        // }
         
-        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");
+    // 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
 }
 
-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
-
+/**
+ * @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);
         
-        // 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));
+        // 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;
 
-        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));
+        for (int i = 0; i < MPU_FIFO_LEN; i++) {
+            sensor_package_t *pkg = &send_data.sensor_package[i];
 
-        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));
+            // 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);
+            }
 
-        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));
+            // 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);
+            }
 
-        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));
-        #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));
+            // 3. 打包温度数据 (int16_t)
+            *p++ = (uint8_t)(pkg->temperature & 0xFF);
+            *p++ = (uint8_t)((pkg->temperature >> 8) & 0xFF);
 
-        // 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");
-    #else
-    #endif
-}
+            // 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);
 
-//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();
-}
-
-#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]);
+            #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
         }
-        count++;
+
+
+        // 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
         
-        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);   
+        // data_log(send_buffer);
     }
-
-    // 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 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 初始化，在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
@@ -540,57 +385,137 @@ void xtell_task_create(void){
     
     #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);
 
-    
-    ano_protocol_init(115200);
-    
+    circle_buffer_init(&g_ble_send_cb, g_sensor_data_storage, SENSOR_DATA_BUFFER_SIZE, sizeof(ble_send_data_t));
 
-    circle_buffer_init(&sensor_read, sensor_read_buffer, SENSOR_DATA_BUFFER_SIZE, sizeof(sensor_data_t));
+    os_sem_create(&receiver_ready_sem, 0);
 
-    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();
 
 }
+
+
+/**
+ * @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
+}
+
+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
+}
+//////////////////////////////////////////////////////////////////////////////
+//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 data_send_task(void){
+    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];
+    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
+
+#if 1
+    // 定义新的Packet ID和数据长度
+    #define PACKET_ID_RAW_IMU 0x04
+    #define PACKET_LENGTH_RAW_IMU 12 // 6个传感器值，每个2字节
+
+    // 声明一个发送缓冲区，用于包含帧头、ID、长度、数据和校验和
+    // 帧头 (2) + ID (1) + 长度 (1) + 数据 (12) + 校验和 (1) = 17 字节
+    uint8_t tx_buffer[2 + 1 + 1 + PACKET_LENGTH_RAW_IMU + 1];
+    uint8_t checksum = 0;
+    int i; // 用于循环计算校验和
+
+    // 填充帧头
+    tx_buffer[0] = 0xAA;
+    tx_buffer[1] = 0xFF;
+
+    // 填充Packet ID和长度
+    tx_buffer[2] = PACKET_ID_RAW_IMU;
+    tx_buffer[3] = PACKET_LENGTH_RAW_IMU;
+
+    // 填充原始传感器数据 (与你原先的processing_data内容相同)
+    tx_buffer[4] = (uint8_t)(accx_buf[0] & 0xFF);         // accX LSB
+    tx_buffer[5] = (uint8_t)(accx_buf[0] >> 8 & 0xFF);    // accX MSB
+    tx_buffer[6] = (uint8_t)(accy_buf[0] & 0xFF);         // accY LSB
+    tx_buffer[7] = (uint8_t)(accy_buf[0] >> 8 & 0xFF);    // accY MSB
+    tx_buffer[8] = (uint8_t)(accz_buf[0] & 0xFF);         // accZ LSB
+    tx_buffer[9] = (uint8_t)(accz_buf[0] >> 8 & 0xFF);    // accZ MSB
+    tx_buffer[10] = (uint8_t)(gyrx_buf[0] & 0xFF);        // gyrX LSB
+    tx_buffer[11] = (uint8_t)(gyrx_buf[0] >> 8 & 0xFF);   // gyrX MSB
+    tx_buffer[12] = (uint8_t)(gyry_buf[0] & 0xFF);        // gyrY LSB
+    tx_buffer[13] = (uint8_t)(gyry_buf[0] >> 8 & 0xFF);   // gyrY MSB
+    tx_buffer[14] = (uint8_t)(gyrz_buf[0] & 0xFF);        // gyrZ LSB
+    tx_buffer[15] = (uint8_t)(gyrz_buf[0] >> 8 & 0xFF);   // gyrZ MSB
+
+    // 计算校验和 (从 Packet ID 到所有数据字节的和)
+    checksum = tx_buffer[2] + tx_buffer[3]; // ID + Length
+    for (i = 0; i < PACKET_LENGTH_RAW_IMU; i++) {
+        checksum += tx_buffer[4 + i]; // 加上所有数据字节
+    }
+    tx_buffer[4 + PACKET_LENGTH_RAW_IMU] = checksum; // 校验和是最后一个字节
+
+    // 发送整个缓冲区
+    extern void uartSendData(void *buf, u16 len) ; // 确保u16是uint16_t或unsigned short
+    uartSendData(tx_buffer, sizeof(tx_buffer)); // 发送总共17字节
+#endif
+
+}
+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();
+    bmp280_init();
+    os_task_create(BLE_send_fuc,NULL,5,1024,32,"BLE_send_fuc");
+    os_task_create(sensor_collect_task,NULL,5,1024,32,"sensor_collect_task");
+    // create_process(&test_id, "sensor_test",NULL,data_send_task ,3);
+    // data_send_task();
+}
+
+

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> 
@@ -112,13 +117,14 @@ uint8_t bmp280_init(void) {
         printf("bmp280 check diff:%d\n",id );
         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 +153,29 @@ 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 +184,33 @@ 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));
+
 }

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)
 #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)
 #endif
@@ -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

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;
         }
@@ -218,4 +225,42 @@ void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
     mag_data->x -= cal_data.offset_x;
     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);
+
+
 }

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;

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++;
 		}
@@ -400,9 +411,15 @@ 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)

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);

apps/earphone/xtell_Sensor/xtell.h

@@ -1,6 +1,7 @@
 #ifndef XTELL_H
 #define XTELL_H
-
+#include "system/includes.h"
+#include "generic/typedef.h"
 // #define KS_BLE 1
 #define XTELL_TEST 1
 

apps/earphone/xtell_Sensor/xtell_app_main.c

@@ -171,6 +171,6 @@ void xtell_app_main()
     xtell_task_create();
 
     xlog("==============xtell_app_end================\n");
-
+    
 }
 

apps/earphone/xtell_Sensor/xtell_handler.c

@@ -49,6 +49,7 @@
 #include "./sensor/MMC56.h"
 #include "./sensor/BMP280.h"
 #include "./sensor/AK8963.h"
+#include "./calculate/skiing_tracker.h"
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //宏定义
 #define LOG_TAG_CONST       EARPHONE
@@ -82,15 +83,31 @@ 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] = "xtell_1";
 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 BMP280_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 +191,106 @@ static int state_machine(struct application *app, enum app_state state, struct i
 
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //handle
+void le_user_app_event(u8* buffer){
+    if (buffer[0] == 0xBE && buffer[1] == 0xBB) {
+        if(buffer[2] == 0x01){      //后面的数据长度 1
+            switch (buffer[3]){
+                case 0x01:
+                    // extern void gsensor_test(void);
+                    // create_process(&gsensor_test_id,"gsensor_test",NULL,gsensor_test,1000);
+                    xlog("ota_test");
+                    cpu_reset();
+                    break;
+                case 0xff:  //测试
+                    u8 device_buff[10];
+                    u8 founds = 0;
+                    extern void i2c_scanner_probe(u8* device_addr, u8* found_number);
+                    i2c_scanner_probe(device_buff,&founds);
+                    for(int i = 0;i < founds;i++){
+                        send_data_to_ble_client(&device_buff,founds);
+                    }
+                    break;
+                case 0x02:
+                    extern void test_func(void);
+                    test_func();
+                    break;
+                default:
+                    break;
+            }
+        }else if(buffer[2] == 0x02){  //后面数据长度为2
+            switch (buffer[3]){  //数据包类型
+                case 0x00: //数据包类型为：指定传感器初始化
+                    u8 send2_0[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                    if(buffer[4] == 0x01){  //六轴
+                        // stop_calibration();
+                        if (SL_SC7U22_Config() == 0) {
+                            SC7U22_init = 0x10;
+                        }else{
+                            SC7U22_init = 0x11;
+                        }
+                        send2_0[4] = SC7U22_init; 
+                        send_data_to_ble_client(&send2_0,5);
+                        // start_calibration();
+                    }else if(buffer[4] == 0x02){  //地磁
+                        if(mmc5603nj_init() == 0){
+                            MMC5603nj_init = 0x20;
+                            send2_0[4] = MMC5603nj_init;  //地磁初始化失败
+                            send_data_to_ble_client(&send2_0,5);
+                            return;
+                        }
+                        MMC5603nj_init = 0x21;
+                        send2_0[4] = MMC5603nj_init;  //地磁初始化成功
+                        send_data_to_ble_client(&send2_0,5);
+                    }else if(buffer[4] == 0x03){  //气压计初始化
+                        if(bmp280_init() != 0){
+                            //初始化失败
+                            BMP280_init = 0x30;
+                            send2_0[4] = BMP280_init;
+                            send_data_to_ble_client(&send2_0,5);
+                            return;
+                        }
+                        BMP280_init = 0x31;
+                        send2_0[4] = BMP280_init;  //气压计初始化成功
+                        send_data_to_ble_client(&send2_0,5);
+                    }
+                    break;
+                case 0x01: //设置传感器采集对象：左脚or右脚
+                    u8 send2_1[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] = BMP280_init;
+                    }
+                    send_data_to_ble_client(&send2_2,5);
+                    break;
+                case 0x03:  //开始/停止滑雪计算 
+                    if(buffer[4] == 0x01){  //开始滑雪计算
+                        if(SC7U22_init == 0x10 || MMC5603nj_init == 0x20 || BMP280_init == 0x30){ //传感器未进行初始化
+                            u8 send2_3[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                            send_data_to_ble_client(&send2_3,5);
+                            return;
+                        }
+                        start_clloct();
+                    }else if(buffer[4] == 0x02){ //停止滑雪计算
+                        stop_clloct();
+                    }
+                    break;
+            }
+        }
+    }
+}
 
 
 void le_user_app_send_event(size_t command, unsigned char* data, size_t size)
@@ -203,57 +320,105 @@ 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
+                                    BMP280_init = 0x30;
+                                    send2_0[4] = BMP280_init;
+                                    send_data_to_ble_client(&send2_0,5);
+                                    return;
+                                }
+                                BMP280_init = 0x31;
+                                send2_0[4] = BMP280_init;  //气压计初始化成功
+                                send_data_to_ble_client(&send2_0,5);
+                            }
+                            break;
+                        case 0x01: //设置传感器采集对象：左脚or右脚
+                            u8 send2_1[9] = {0xBB,0xBE,0x06,0x05,0x00,0x00,0x00,0x00,0x00};
+                            if(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] = BMP280_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 || BMP280_init == 0x30){ //传感器未进行初始化
+                                    u8 send2_3[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                                    send_data_to_ble_client(&send2_3,5);
+                                    return;
+                                }
+                                start_clloct();
+                            }else if(event->u.app.buffer[4] == 0x02){ //停止滑雪计算
+                                stop_clloct();
+                            }
+                            break;
                     }
                 }
             }
-        break;
+            break;
 
         default:
-        xlog("%d\n",event->type);
-        break;
+            xlog("%d\n",event->type);
+            break;
     }
 
 

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;
@@ -428,7 +418,8 @@ SECTIONS
         battery_notify_begin = .;
         *(.battery_notify)
         battery_notify_end = .;
- . = ALIGN(4);
+
+  . = ALIGN(4);
   __VERSION_BEGIN = .;
         KEEP(*(.sys.version))
         __VERSION_END = .;
@@ -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)
@@ -1567,7 +1565,8 @@ SECTIONS
         *(.timer.text.cache.L1)
         *(.gpio.text.cache.L1)
         *(.iic_hw.text.cache.L1)
- driver_data_code_end = .;
+
+        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;

cpu/br28/sdk_used_list.used

@@ -33,19 +33,7 @@ cvsd_decoder
 
 
 pcm_decoder
-
-
-
-
-
-
-
-mp3_decoder
 wtgv2_decoder
-
-
-
-aac_decoder
 cvsd_encoder
 
 

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

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
 

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]

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

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"