存档

.gitignore

@@ -0,0 +1,33 @@
+# 编译生成的目标文件
+*.o
+*.a
+*.so
+*.d
+
+# 编译生成的最终产物
+*.elf
+*.bin
+*.fw
+*.ufw
+*.map
+*.lst
+*.bc
+
+# 编译产物目录
+# 看起来你所有的编译结果都在 objs/ 目录下，直接忽略整个目录更方便
+/objs/
+
+# 工具链和构建产物
+# 根据你的路径，这些文件也应该被忽略
+/cpu/br28/tools/app.bin
+/cpu/br28/tools/data_code.bin
+/cpu/br28/tools/download/
+/cpu/br28/tools/isd_config.ini
+/cpu/br28/tools/sdk.elf*
+/cpu/br28/tools/sdk.lst
+/cpu/br28/tools/sdk.map
+/cpu/br28/sdk_used_list.used
+
+# 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

@@ -25,6 +25,9 @@
         "dev_manager.h": "c",
         "bt_tws.h": "c",
         "skiing_tracker.h": "c",
-        "xtell.h": "c"
+        "xtell.h": "c",
+        "debug.h": "c",
+        "ano_protocol.h": "c",
+        "board_jl701n_demo_global_build_cfg.h": "c"
     }
 }

Makefile

@@ -249,6 +249,10 @@ INCLUDES := \
 	-Iapps/earphone/xtell_Sensor/sensor \
 	-Iapps/earphone/xtell_Sensor \
 	-Iapps/earphone/xtell_Sensor/calculate \
+	-Iapps/earphone/xtell_Sensor/ano  \
+	-Iapps/earphone/xtell_Sensor/sensor/ \
+	-Iapps/earphone/xtell_Sensor/sensor/ \
+	-Iapps/earphone/xtell_Sensor/sensor/ \
 	-I$(SYS_INC_DIR) \
 
 
@@ -620,6 +624,10 @@ c_SRC_FILES := \
 	apps/earphone/xtell_Sensor/sensor/LIS2DH12.c \
 	apps/earphone/xtell_Sensor/sensor/SC7U22.c \
 	apps/earphone/xtell_Sensor/calculate/skiing_tracker.c \
+	apps/earphone/xtell_Sensor/ano/ano_protocol.c  \
+	apps/earphone/xtell_Sensor/sensor/MMC56.c \
+	apps/earphone/xtell_Sensor/sensor/BMP280.c \
+	apps/earphone/xtell_Sensor/sensor/AK8963.c \
 
 
 # 需要编译的 .S 文件

apps/common/device/gSensor/gSensor_manage.c

@@ -211,41 +211,102 @@ void write_gsensor_data_handle(void)
         return ;
     }
 }
+
+// 临时的设备扫描诊断函数
+void i2c_scanner_probe(u8* device_addr, u8* found_number)
+{
+    printf("Starting I2C bus scan...\n");
+    int devices_found = 0;
+
+    // I2C地址范围是 0x08 到 0x77
+    for (uint8_t addr_7bit = 0x00; addr_7bit < 0x7F; addr_7bit++)
+    {
+        // 构建8位的写地址
+        uint8_t write_addr_8bit = (addr_7bit << 1);
+
+        iic_start(gSensor_info->iic_hdl);
+
+        // 尝试发送写地址，并检查返回值
+        // 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);
+            printf("=====================================================================\n");
+            devices_found++;
+        }
+
+        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");
+    } else {
+        printf("Scan finished. Found %d device(s).\n", devices_found);
+    }
+}
+
+char w_log_buffer_1[100];
+char w_log_buffer_2[100];
+char w_log_buffer_3[100];
+char w_log_buffer_4[100];
+char w_log_buffer_5[100];
 u8 gravity_sensor_command(u8 w_chip_id, u8 register_address, u8 function_command)
 {
     // spin_lock(&sensor_iic);
     /* os_mutex_pend(&SENSOR_IIC_MUTEX,0); */
     u8 ret = 1;
+    // xlog("iic_start\n");
     iic_start(gSensor_info->iic_hdl);
+
+    // xlog("iic_tx_byte id\n");
     if (0 == iic_tx_byte(gSensor_info->iic_hdl, w_chip_id)) {
         ret = 0;
         xlog("\n gsen iic wr err 0\n");
+        strcpy(&w_log_buffer_1, "gsen iic wr err 0\n");
         goto __gcend;
     }
 
+    // xlog("iic delay\n");
     delay(gSensor_info->iic_delay);
 
+    // xlog("iic_tx_byte: address\n");
     if (0 == iic_tx_byte(gSensor_info->iic_hdl, register_address)) {
         ret = 0;
         xlog("\n gsen iic wr err 1\n");
+        strcpy(&w_log_buffer_2, "gsen iic wr err 1\n");
         goto __gcend;
     }
 
     delay(gSensor_info->iic_delay);
 
+    // xlog("iic_tx_byte: command\n");
     if (0 == iic_tx_byte(gSensor_info->iic_hdl, function_command)) {
         ret = 0;
         xlog("\n gsen iic wr err 2\n");
+        strcpy(&w_log_buffer_3, "gsen iic wr err 3\n");
         goto __gcend;
     }
 
+    strcpy(&w_log_buffer_4, "gsen iic wr sucess\n");
+    // xlog("\n gsen iic wr sucess\n");
+
 __gcend:
     iic_stop(gSensor_info->iic_hdl);
     // spin_unlock(&sensor_iic);
     /* os_mutex_post(&SENSOR_IIC_MUTEX); */
+    
     return ret;
 }
-
+char sen_log_buffer_1[100];
+char sen_log_buffer_2[100];
+char sen_log_buffer_3[100];
+char sen_log_buffer_4[100];
+char sen_log_buffer_5[100];
 u8 _gravity_sensor_get_ndata(u8 r_chip_id, u8 register_address, u8 *buf, u8 data_len)
 {
 //	xlog("%s",__func__);
@@ -255,16 +316,19 @@ u8 _gravity_sensor_get_ndata(u8 r_chip_id, u8 register_address, u8 *buf, u8 data
 
     iic_start(gSensor_info->iic_hdl);
     if (0 == iic_tx_byte(gSensor_info->iic_hdl, r_chip_id - 1)) {
-        xlog("\n gsen iic rd err 0\n");
+        xlog("I2C NACK on writing ADDR: 0x%X\n", r_chip_id - 1);
         read_len = 0;
+        strcpy(&sen_log_buffer_1, "gsen iic rd err 0\n");
         goto __gdend;
     }
 
 
     delay(gSensor_info->iic_delay);
     if (0 == iic_tx_byte(gSensor_info->iic_hdl, register_address)) {
-        xlog("\n gsen iic rd err 1\n");
+        xlog("I2C NACK on register ADDR: 0x%X\n", register_address);
+        // xlog("\n gsen iic rd err 1\n");
         read_len = 0;
+        strcpy(&sen_log_buffer_2, "gsen iic rd err 1\n");
         goto __gdend;
     }
 
@@ -272,6 +336,7 @@ u8 _gravity_sensor_get_ndata(u8 r_chip_id, u8 register_address, u8 *buf, u8 data
     if (0 == iic_tx_byte(gSensor_info->iic_hdl, r_chip_id)) {
         xlog("\n gsen iic rd err 2\n");
         read_len = 0;
+        strcpy(&sen_log_buffer_3, "gsen iic rd err 2\n" );
         goto __gdend;
     }
 
@@ -284,14 +349,16 @@ u8 _gravity_sensor_get_ndata(u8 r_chip_id, u8 register_address, u8 *buf, u8 data
 
     *buf = iic_rx_byte(gSensor_info->iic_hdl, 0);
     read_len ++;
+    strcpy(&sen_log_buffer_4, "gsen iic rd success\n");
+    // xlog("\n gsen iic rd success\n");
 
 __gdend:
 
     iic_stop(gSensor_info->iic_hdl);
     delay(gSensor_info->iic_delay);
     // spin_unlock(&sensor_iic);
-
     /* os_mutex_post(&SENSOR_IIC_MUTEX); */
+    // strcpy(&sen_log_buffer_5, "gsen iic rd err\n");
     return read_len;
 }
 void gsensor_io_ctl(u8 cmd, void *arg)

apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c

@@ -1425,9 +1425,25 @@ void ble_module_enable(u8 en)
 #if(TCFG_CHARGE_BOX_ENABLE)
 extern u8 get_chgbox_lid_status(void);
 #endif
+
+void user_ble_gap_device_set(char* name){       //xtell-set
+
+    if(strlen(name) < BT_NAME_LEN_MAX){
+        strcpy(gap_device_name,name);
+
+        //刷新广播
+        bt_ble_adv_enable(0);
+        make_set_adv_data();
+        make_set_rsp_data();
+        bt_ble_adv_enable(1);
+    }
+}
 void bt_ble_init(void)
 {
     log_info("***** ble_init******\n");
+    //xtell-set
+    // extern char xt_ble_new_name[9];
+    // user_ble_gap_device_set(xt_ble_new_name);
 
     gap_device_name = bt_get_local_name();
     gap_device_name_len = strlen(gap_device_name);

apps/earphone/app_main.c

@@ -57,14 +57,14 @@ const struct task_info task_info_table[] = {
 #else
     {"btstack",             3,     0,   768,   256 },
 #endif
-    {"audio_dec",           5,     0,   800,   128 },
-    {"aud_effect",          5,     1,   800,   128 },
+    // {"audio_dec",           5,     0,   800,   128 },
+    // {"aud_effect",          5,     1,   800,   128 },
     /*
      *为了防止dac buf太大，通话一开始一直解码，
      *导致编码输入数据需要很大的缓存，这里提高编码的优先级
      */
-    {"audio_enc",           6,     0,   768,   128 },
-    {"aec",					2,	   1,   768,   128 },
+    // {"audio_enc",           6,     0,   768,   128 },
+    // {"aec",					2,	   1,   768,   128 },
 #if TCFG_AUDIO_HEARING_AID_ENABLE
     {"HearingAid",			6,	   0,   768,   128   },
 #endif/*TCFG_AUDIO_HEARING_AID_ENABLE*/
@@ -81,14 +81,14 @@ 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 },
-    {"anc",                 3,     1,   512,   128 },
+    // {"aud_capture",         4,     0,   512,   256 },
+    // {"data_export",         5,     0,   512,   256 },
+    // {"anc",                 3,     1,   512,   128 },
 #endif
 
 #if TCFG_GX8002_NPU_ENABLE
@@ -102,9 +102,9 @@ const struct task_info task_info_table[] = {
 #if TCFG_KWS_VOICE_RECOGNITION_ENABLE
     {"kws",                 2,     0,   256,   64  },
 #endif /* #if TCFG_KWS_VOICE_RECOGNITION_ENABLE */
-    {"usb_msd",           	1,     0,   512,   128 },
+    // {"usb_msd",           	1,     0,   512,   128 },
 #if !TCFG_USB_MIC_CVP_ENABLE
-    {"usbmic_write",       	2,     0,   256,   128 },
+    // {"usbmic_write",       	2,     0,   256,   128 },
 #endif
 #if AI_APP_PROTOCOL
     {"app_proto",           2,     0,   768,   64  },
@@ -112,12 +112,12 @@ const struct task_info task_info_table[] = {
 #if (TCFG_SPI_LCD_ENABLE||TCFG_SIMPLE_LCD_ENABLE)
     {"ui",           	    2,     0,   768,   256 },
 #else
-    {"ui",                  3,     0,   384 - 64,  128  },
+    // {"ui",                  3,     0,   384 - 64,  128  },
 #endif
 #if (TCFG_DEV_MANAGER_ENABLE)
     {"dev_mg",           	3,     0,   512,   512 },
 #endif
-    {"audio_vad",           1,     1,   512,   128 },
+    // {"audio_vad",           1,     1,   512,   128 },
 #if TCFG_KEY_TONE_EN
     {"key_tone",            5,     0,   256,   32  },
 #endif
@@ -137,7 +137,7 @@ const struct task_info task_info_table[] = {
     {"icsd_src",            2,     1,   512,   128 },
 #endif /*TCFG_AUDIO_ANC_ACOUSTIC_DETECTOR_EN*/
     {"pmu_task",            6,      0,  256,   128  },
-    {"WindDetect",          2,      0,  256,   128  },
+    // {"WindDetect",          2,      0,  256,   128  },
     {0, 0},
 };
 

apps/earphone/board/br28/board_jl701n_demo.c

@@ -249,7 +249,7 @@ const struct vad_mic_platform_data vad_mic_data = {
         .mic_ldo2PAD_en = 1,
         .mic_bias_en = 0,
         .mic_bias_res = 0,
-        .mic_bias_inside = TCFG_AUDIO_MIC0_BIAS_EN,
+        // .mic_bias_inside = TCFG_AUDIO_MIC0_BIAS_EN,
         /* ADC偏置电阻配置*/
         .adc_rbs = 3,
         /* ADC输入电阻配置*/
@@ -520,11 +520,13 @@ const struct hw_iic_config hw_iic_cfg[] = {
         	{IO_PORTC_02, IO_PORTC_03},  //group c
         	{IO_PORTA_05, IO_PORTA_06},  //group d
          */
-        .port = TCFG_HW_I2C0_PORTS,
+        // .port = TCFG_HW_I2C0_PORTS,
+        // .port = {IO_PORTC_04,IO_PORTC_05},  // portB: scl、sda
+        .port = {IO_PORTB_04,IO_PORTB_05},  // portA: scl、sda
         .baudrate = TCFG_HW_I2C0_CLK,      //IIC通讯波特率
         .hdrive = 0,                       //是否打开IO口强驱
         .io_filter = 1,                    //是否打开滤波器（去纹波）
-        .io_pu = 1,                        //是否打开上拉电阻，如果外部电路没有焊接上拉电阻需要置1
+        .io_pu = 0,                        //是否打开上拉电阻，如果外部电路没有焊接上拉电阻需要置1
     },
 };
 

apps/earphone/board/br28/board_jl701n_demo_cfg.h

@@ -22,9 +22,11 @@
 //                                 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_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  				1000000                                //串口波特率配置
+#define TCFG_UART0_BAUDRATE  				115200                                //串口波特率配置
 
 //*********************************************************************************//
 //                                 IIC配置                                        //
@@ -34,15 +36,18 @@
 #define TCFG_SW_I2C0_DAT_PORT               IO_PORTA_06                             //软件IIC  DAT脚选择
 #define TCFG_SW_I2C0_DELAY_CNT              10                                      //IIC延时参数，影响通讯时钟频率
 
-/*硬件IIC端口选择
+/*硬件IIC端口选择  -- 具体看手册，这里写的不准 -- lmx
   SCL         SDA
   'A': IO_PORT_DP   IO_PORT_DM
   'B': IO_PORTA_09  IO_PORTA_10
   'C': IO_PORTA_07  IO_PORTA_08
   'D': IO_PORTA_05  IO_PORTA_06
+  
+  具体要选择哪个iic口，去board_jl701n_demo.c中设置：hw_iic_cfg
+
  */
-#define TCFG_HW_I2C0_PORTS                  'D'
-#define TCFG_HW_I2C0_CLK                    100000                                  //硬件IIC波特率
+#define TCFG_HW_I2C0_PORTS                  'B'
+#define TCFG_HW_I2C0_CLK                    1000000                                  //硬件IIC波特率:100k
 
 //*********************************************************************************//
 //                                 硬件SPI 配置                                        //
@@ -101,7 +106,7 @@
 
 #define MULT_KEY_ENABLE						1//DISABLE 		//是否使能组合按键消息, 使能后需要配置组合按键映射表
 
-#define TCFG_KEY_TONE_EN					ENABLE//DISABLE xtell 		// 按键提示音。
+#define TCFG_KEY_TONE_EN					DISABLE//DISABLE xtell 		// 按键提示音。
 
 //*********************************************************************************//
 //                                 iokey 配置                                      //
@@ -724,9 +729,9 @@ 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
+#define TCFG_TEST_BOX_ENABLE			    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				ENABLE_THIS_MOUDLE			//是否支持UMIDIGI充电舱
+#define TCFG_UMIDIGI_BOX_ENABLE				DISABLE_THIS_MOUDLE			//是否支持UMIDIGI充电舱  //xtell
 #if TCFG_UMIDIGI_BOX_ENABLE
 #define _20MS_BIT							20							//传输20ms/Bit时使用
 #define _40MS_BIT							40							//传输40ms/Bit时使用
@@ -915,7 +920,7 @@ DAC硬件上的连接方式,可选的配置：
 #define TCFG_STK8321_EN                           0
 #define TCFG_IRSENSOR_ENABLE                      0
 #define TCFG_JSA1221_ENABLE                       0
-#define TCFG_GSENOR_USER_IIC_TYPE                 0     //0:软件IIC  1:硬件IIC
+#define TCFG_GSENOR_USER_IIC_TYPE                 1     //0:软件IIC  1:硬件IIC
 
 //*********************************************************************************//
 //                                  imu-sensor配置                                   //

apps/earphone/user_cfg.c

@@ -202,7 +202,9 @@ void cfg_file_parse(u8 idx)
         log_info("read bt name err");
     } else if (ret >= LOCAL_NAME_LEN) {
         memset(bt_cfg.edr_name, 0x00, LOCAL_NAME_LEN);
-        memcpy(bt_cfg.edr_name, tmp, LOCAL_NAME_LEN);
+        // memcpy(bt_cfg.edr_name, tmp, LOCAL_NAME_LEN);
+        extern char xt_ble_new_name[9];
+        memcpy(bt_cfg.edr_name, xt_ble_new_name, LOCAL_NAME_LEN); 
         bt_cfg.edr_name[LOCAL_NAME_LEN - 1] = 0;
     } else {
         memset(bt_cfg.edr_name, 0x00, LOCAL_NAME_LEN);

apps/earphone/xtell_Sensor/A_hide/10/skiing_tracker.c

@@ -0,0 +1,596 @@
+/*
+        
+*/
+#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)
+
+// --- 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
+// --- --- --- 
+
+// --- 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;
+
+#ifdef XTELL_TEST
+
+debug_t debug1;
+debug_t debug2;
+#endif
+
+static skiing_tracker_t my_skiing_tracker;
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//实现
+
+void clear_speed(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+void start_detection(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.distance = 0;
+    my_skiing_tracker.speed = 0;
+}
+
+void stop_detection(void){
+    my_skiing_tracker.state = STOP_DETECTION;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+/**
+ * @brief  初始化滑雪追踪器
+ * 
+ * @param tracker 
+ */
+void skiing_tracker_init(skiing_tracker_t *tracker)
+{
+    if (!tracker) {
+        return;
+    }
+    // 使用memset一次性清零整个结构体，包括新增的缓冲区
+    memset(tracker, 0, sizeof(skiing_tracker_t));
+    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;
+}
+
+/**
+ * @brief 在设备坐标系下，从原始加速度数据中移除重力分量
+ * @param acc_device        输入：设备坐标系下的原始加速度 [x, y, z], 单位 m/s^2
+ * @param angle             输入：姿态角 [pitch, roll, yaw]，单位: 度
+ * @param acc_linear_device 输出：设备坐标系下移除重力后的线性加速度 [x, y, z]
+ */
+void remove_gravity_in_device_frame(const float *acc_device, const float *angle, float *acc_linear_device)
+{
+    float pitch = angle[0] * DEG_TO_RAD; // 绕 Y 轴
+    float roll  = angle[1] * DEG_TO_RAD;  // 绕 X 轴
+    float yaw   = angle[2] * DEG_TO_RAD;  // 绕 Z 轴
+
+    float cp = cosf(pitch);
+    float sp = sinf(pitch);
+    float cr = cosf(roll);
+    float sr = sinf(roll);
+    float cy = cosf(yaw);
+    float sy = sinf(yaw);
+
+    // 世界坐标系下的重力矢量
+    const float g_world[3] = {0.0f, 0.0f, G_ACCELERATION};
+
+    // 计算旋转矩阵 R 的转置矩阵 R_transpose
+    // R (Z-Y-X) = 
+    // [ cy*cp,  cy*sp*sr - sy*cr,  cy*sp*cr + sy*sr]
+    // [ sy*cp,  sy*sp*sr + cy*cr,  sy*sp*cr - cy*sr]
+    // [ -sp,    cp*sr,             cp*cr            ]
+    //
+    // R_transpose = 
+    // [ cy*cp,              sy*cp,              -sp   ]
+    // [ cy*sp*sr - sy*cr,   sy*sp*sr + cy*cr,   cp*sr ]
+    // [ cy*sp*cr + sy*sr,   sy*sp*cr - cy*sr,   cp*cr ]
+    
+    // 计算重力在设备坐标系下的投影 G_device = R_transpose * G_world
+    // 由于 G_world 只有 z 分量，计算可以简化
+    float g_device[3];
+    g_device[0] = (-sp) * g_world[2];
+    g_device[1] = (cp * sr) * g_world[2];
+    g_device[2] = (cp * cr) * g_world[2];
+    
+    // 从原始设备加速度中减去重力投影
+    acc_linear_device[0] = acc_device[0] - g_device[0];
+    acc_linear_device[1] = acc_device[1] - g_device[1];
+    acc_linear_device[2] = acc_device[2] - g_device[2];
+}
+
+
+
+/**
+ * @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 && 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
+ * 
+ * @param tracker 
+ * @param acc_g 三轴加速度，g
+ * @param gyr_dps 三轴陀螺仪，dps
+ * @param angle 欧若拉角
+ * @param dt 采样时间间隔，会用来积分求速度
+ */
+void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_dps, float *angle, float dt)
+{
+    if (!tracker || !acc_g || !gyr_dps || !angle || dt <= 0) {
+        return;
+    }
+    if(my_skiing_tracker.state == STOP_DETECTION)
+        return;
+
+    // --- 数据预处理和缓冲 ---
+    float acc_device_ms2[3];
+    acc_device_ms2[0] = acc_g[0] * G_ACCELERATION;
+    acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
+    acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;
+
+    // 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:
+            remove_gravity_in_device_frame(acc_device_ms2, angle, tracker->acc_no_g);
+
+
+            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;
+    }
+
+}
+
+
+
+/**
+ * @brief 滑雪数据计算
+ * 
+ * @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
+ */
+BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data) {
+    
+    static int initialized = 0;
+    static float acc_data_g[3];
+    static float gyr_data_dps[3];
+
+    // 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);
+        initialized = 1;
+        printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
+    }
+
+    
+    #if ACC_RANGE==2
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 16384.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 16384.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 16384.0f;
+    #endif
+
+    #if ACC_RANGE==4
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 8192.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 8192.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 8192.0f;
+    #endif
+
+    #if ACC_RANGE==8
+    //±8g	4096
+    acc_data_g[0] = (float)acc_data_buf[0] / 4096.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 4096.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 4096.0f; //az
+	#endif
+
+    #if ACC_RANGE==16
+    //±16g	2048
+    acc_data_g[0] = (float)acc_data_buf[0] / 2048.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 2048.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 2048.0f; //az
+	#endif
+
+    // 陀螺仪 LSB to dps (度/秒)
+    // ±2000dps量程下，转换系数约为 0.061
+    gyr_data_dps[0] = (float)gyr_data_buf[0] * 0.061f;
+    gyr_data_dps[1] = (float)gyr_data_buf[1] * 0.061f;
+    gyr_data_dps[2] = (float)gyr_data_buf[2] * 0.061f;
+
+    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;
+}
+

apps/earphone/xtell_Sensor/A_hide/10/skiing_tracker.h

@@ -0,0 +1,88 @@
+#ifndef SKIING_TRACKER_H
+#define SKIING_TRACKER_H
+
+#include "../xtell.h"
+// 定义滑雪者可能的状态
+typedef enum {
+    STATIC,                   // 静止或动态稳定：0
+    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速：1
+    CONSTANT_SPEED,           // 正在滑雪，匀速：2
+    WOBBLE,                 // 正在原地旋转：3
+    WHEEL,                    // 转弯：4
+    FALLEN,                   // 已摔倒：5
+    TAKING_OFF,               // 起跳冲击阶段：6
+    IN_AIR,                   // 空中失重阶段：7
+    LANDING,                  // 落地冲击阶段：8
+    STOP_DETECTION,           // 停止检测：9
+    UNKNOWN                   // 未知状态：10
+} skiing_state_t;
+
+#define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性
+#define DELTA_TIME 0.01f
+
+
+// 追踪器数据结构体
+typedef struct {
+    // 公开数据
+    float velocity[3];          // 当前速度 (x, y, z)，单位: m/s
+    float distance;             // 总滑行距离，单位: m
+    float speed;                // 当前速率 (标量)，单位: m/s
+    skiing_state_t state;       // 当前滑雪状态
+
+    // 内部计算使用的私有成员
+    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
+    float initial_velocity_on_takeoff[3];  // 起跳瞬间的速度向量
+    int airborne_entry_counter;      // 进入空中状态的确认计数器
+    int grounded_entry_counter;      // 落地确认计数器
+
+    // --- 内部计算使用的私有成员 ---
+    // 用于动态零速更新和旋转检测的缓冲区
+    float acc_buffer[VARIANCE_BUFFER_SIZE][3]; // 加速度数据窗口
+    float gyr_buffer[VARIANCE_BUFFER_SIZE][3]; // 角速度数据窗口
+    int buffer_index;                          // 缓冲区当前索引
+    int buffer_filled;                         // 缓冲区是否已填满的标志
+
+    // 用于高通滤波器（巴特沃斯一阶滤波器）的私有成员，以消除加速度的直流偏置
+    float acc_world_filtered[3];  //过滤过的
+    float acc_world_unfiltered_prev[3];  //上一次没过滤的
+
+    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）
+    int gyr_KS_dps[3];    //卡尔曼后，LSB to dps 三轴陀螺仪数据
+    int angle_KS[3];      //卡尔曼后，计算得到的欧若拉角数据
+}BLE_KS_send_data_t;
+
+#ifdef XTELL_TEST
+typedef struct{
+    float acc_variance;   //三轴加速度方差之和
+    float gyr_variance;   //三轴陀螺仪方差之和
+    float acc_magnitude;  //三轴加速度模长
+    float gyr_magnitude;  //三轴陀螺仪模长
+}debug_t;
+#endif
+/**
+ * @brief 初始化滑雪追踪器
+ *
+ * @param tracker 指向 skiing_tracker_t 结构体的指针
+ */
+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) ;
+#endif // SKIING_TRACKER_H

apps/earphone/xtell_Sensor/A_hide/11_test/skiing_tracker.c

@@ -0,0 +1,377 @@
+/*
+    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 ENABLE_XLOG 1
+#ifdef xlog
+#undef xlog
+#endif
+#if ENABLE_XLOG
+    #define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
+#else
+    #define xlog(format, ...) ((void)0)
+#endif
+
+
+#define G_ACCELERATION 9.81f
+#define DEG_TO_RAD (3.14159265f / 180.0f)
+
+BLE_KS_send_data_t KS_data;
+static float quaternion_data[4];
+
+#ifdef XTELL_TEST
+
+debug_t debug1;
+debug_t debug2;
+#endif
+
+static skiing_tracker_t my_skiing_tracker;
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//实现
+
+void clear_speed(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+void start_detection(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.distance = 0;
+    my_skiing_tracker.speed = 0;
+}
+
+void stop_detection(void){
+    my_skiing_tracker.state = STOP_DETECTION;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+/**
+ * @brief  初始化滑雪追踪器
+ * 
+ * @param tracker 
+ */
+void skiing_tracker_init(skiing_tracker_t *tracker)
+{
+    if (!tracker) {
+        return;
+    }
+    // 使用memset一次性清零整个结构体，包括新增的缓冲区
+    memset(tracker, 0, sizeof(skiing_tracker_t));
+    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;
+}
+
+
+ /**
+  * @brief 将设备坐标系下的加速度转换为世界坐标系，去掉重力分量
+  * 
+  * @param acc_device 
+  * @param angle 
+  * @param acc_linear_world 
+  */
+static void transform_acc_to_world_frame(const float *acc_device, const float *angle, float *acc_linear_world)
+{
+    // 1. 将输入的角度从度转换为弧度
+    // angle[0] -> pitch, angle[1] -> roll, angle[2] -> yaw
+    float pitch_rad = -angle[0] * (M_PI / 180.0f);
+    float roll_rad  = -angle[1] * (M_PI / 180.0f);
+    float yaw_rad   = -angle[2] * (M_PI / 180.0f);
+
+    // 2. 预先计算三角函数值，以提高效率
+    float c_r = cosf(roll_rad);
+    float s_r = sinf(roll_rad);
+    float c_p = cosf(pitch_rad);
+    float s_p = sinf(pitch_rad);
+    float c_y = cosf(yaw_rad);
+    float s_y = sinf(yaw_rad);
+
+    // 3. 构建从设备坐标系到世界坐标系的旋转矩阵 R_device_to_world
+    //    该矩阵基于 Z-Y-X (Yaw-Pitch-Roll) 欧拉角顺序
+    //    R = R_z(yaw) * R_y(pitch) * R_x(roll)
+    float R[3][3];
+    R[0][0] = c_y * c_p;
+    R[0][1] = c_y * s_p * s_r - s_y * c_r;
+    R[0][2] = c_y * s_p * c_r + s_y * s_r;
+
+    R[1][0] = s_y * c_p;
+    R[1][1] = s_y * s_p * s_r + c_y * c_r;
+    R[1][2] = s_y * s_p * c_r - c_y * s_r;
+
+    R[2][0] = -s_p;
+    R[2][1] = c_p * s_r;
+    R[2][2] = c_p * c_r;
+
+    // 4. 将设备坐标系的加速度计总读数旋转到世界坐标系
+    //    a_raw_world = R * acc_device
+    float ax_raw_world = R[0][0] * acc_device[0] + R[0][1] * acc_device[1] + R[0][2] * acc_device[2];
+    float ay_raw_world = R[1][0] * acc_device[0] + R[1][1] * acc_device[1] + R[1][2] * acc_device[2];
+    float az_raw_world = R[2][0] * acc_device[0] + R[2][1] * acc_device[1] + R[2][2] * acc_device[2];
+
+    // 5. 在世界坐标系中减去重力分量，得到线性加速度
+    //    假设世界坐标系Z轴垂直向上，重力矢量为 [0, 0, -g]
+    //    线性加速度 = 总加速度 - 重力加速度
+    //    az_linear = az_raw_world - (-g) = az_raw_world + g (如果Z轴向上)
+    //    az_linear = az_raw_world - (+g) = az_raw_world - g (如果Z轴向下)
+    //    这里我们采用 Z 轴向上的标准惯性系 (ENU)
+    
+    acc_linear_world[0] = ax_raw_world;
+    acc_linear_world[1] = ay_raw_world;
+    acc_linear_world[2] = az_raw_world - G_ACCELERATION; // Z轴向上，重力为正值，所以减去
+}
+/**
+ * @brief 在设备坐标系下，从原始加速度数据中移除重力分量
+ * @param acc_device        输入：设备坐标系下的原始加速度 [x, y, z], 单位 m/s^2
+ * @param angle             输入：姿态角 [pitch, roll, yaw]，单位: 度
+ * @param acc_linear_device 输出：设备坐标系下移除重力后的线性加速度 [x, y, z]
+ */
+void remove_gravity_in_device_frame(const float *acc_device, const float *angle, float *acc_linear_device)
+{
+    float pitch = -angle[0] * DEG_TO_RAD; // 绕 Y 轴
+    float roll  = -angle[1] * DEG_TO_RAD;  // 绕 X 轴
+    float yaw   = -angle[2] * DEG_TO_RAD;  // 绕 Z 轴
+
+    float cp = cosf(pitch);
+    float sp = sinf(pitch);
+    float cr = cosf(roll);
+    float sr = sinf(roll);
+    float cy = cosf(yaw);
+    float sy = sinf(yaw);
+
+    // 世界坐标系下的重力矢量
+    const float g_world[3] = {0.0f, 0.0f, G_ACCELERATION};
+
+    // 计算旋转矩阵 R 的转置矩阵 R_transpose
+    // R (Z-Y-X) = 
+    // [ cy*cp,  cy*sp*sr - sy*cr,  cy*sp*cr + sy*sr]
+    // [ sy*cp,  sy*sp*sr + cy*cr,  sy*sp*cr - cy*sr]
+    // [ -sp,    cp*sr,             cp*cr            ]
+    //
+    // R_transpose = 
+    // [ cy*cp,              sy*cp,              -sp   ]
+    // [ cy*sp*sr - sy*cr,   sy*sp*sr + cy*cr,   cp*sr ]
+    // [ cy*sp*cr + sy*sr,   sy*sp*cr - cy*sr,   cp*cr ]
+    
+    // 计算重力在设备坐标系下的投影 G_device = R_transpose * G_world
+    // 由于 G_world 只有 z 分量，计算可以简化
+    float g_device[3];
+    g_device[0] = (-sp) * g_world[2];
+    g_device[1] = (cp * sr) * g_world[2];
+    g_device[2] = (cp * cr) * g_world[2];
+    
+    // 从原始设备加速度中减去重力投影
+    acc_linear_device[0] = acc_device[0] - g_device[0];
+    acc_linear_device[1] = acc_device[1] - g_device[1];
+    acc_linear_device[2] = acc_device[2] - g_device[2];
+}
+
+
+/**
+ * @brief 使用四元数直接从设备坐标系的加速度中移除重力分量
+ * @details 这种方法比使用欧拉角更精确、更稳定，且避免了万向节死锁。
+ * @param acc_device        输入：设备坐标系下的原始加速度 [x, y, z], 单位 m/s^2
+ * @param q                 输入：表示姿态的四元数 [w, x, y, z]
+ * @param acc_linear_device 输出：设备坐标系下移除重力后的线性加速度 [x, y, z]
+ */
+void q_remove_gravity_with_quaternion(const float *acc_device, const float *q, float *acc_linear_device)
+{
+    // 从四元数计算重力在设备坐标系下的投影
+    // G_device = R_transpose * G_world
+    // G_world = [0, 0, g]
+    // R_transpose 的第三列即为重力投影方向
+    float gx = 2.0f * (q[1] * q[3] - q[0] * q[2]);
+    float gy = 2.0f * (q[0] * q[1] + q[2] * q[3]);
+    float gz = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
+
+    // 从原始加速度中减去重力分量
+    acc_linear_device[0] = acc_device[0] - gx * G_ACCELERATION;
+    acc_linear_device[1] = acc_device[1] - gy * G_ACCELERATION;
+    acc_linear_device[2] = acc_device[2] - gz * G_ACCELERATION;
+}
+
+/**
+ * @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
+ * @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]
+ * @param acc_linear_world  输出：世界坐标系下的线性加速度 [x, y, z]
+ */
+void q_transform_to_world_with_quaternion(const float *acc_linear_device, const float *q, float *acc_linear_world)
+{
+    // 这是 R_device_to_world * acc_linear_device 的展开形式
+    acc_linear_world[0] = (1.0f - 2.0f*q[2]*q[2] - 2.0f*q[3]*q[3]) * acc_linear_device[0] +
+                          (2.0f*q[1]*q[2] - 2.0f*q[0]*q[3]) * acc_linear_device[1] +
+                          (2.0f*q[1]*q[3] + 2.0f*q[0]*q[2]) * acc_linear_device[2];
+
+    acc_linear_world[1] = (2.0f*q[1]*q[2] + 2.0f*q[0]*q[3]) * acc_linear_device[0] +
+                          (1.0f - 2.0f*q[1]*q[1] - 2.0f*q[3]*q[3]) * acc_linear_device[1] +
+                          (2.0f*q[2]*q[3] - 2.0f*q[0]*q[1]) * acc_linear_device[2];
+
+    acc_linear_world[2] = (2.0f*q[1]*q[3] - 2.0f*q[0]*q[2]) * acc_linear_device[0] +
+                          (2.0f*q[2]*q[3] + 2.0f*q[0]*q[1]) * acc_linear_device[1] +
+                          (1.0f - 2.0f*q[1]*q[1] - 2.0f*q[2]*q[2]) * acc_linear_device[2];
+    acc_linear_world[2] -= G_ACCELERATION;
+}
+
+
+/**
+ * @brief 主更新函数
+ * 
+ * @param tracker 
+ * @param acc_g 三轴加速度，g
+ * @param gyr_dps 三轴陀螺仪，dps
+ * @param angle 欧若拉角
+ * @param dt 采样时间间隔，会用来积分求速度
+ */
+void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_dps, float *angle, float dt)
+{
+    if (!tracker || !acc_g || !gyr_dps || !angle || dt <= 0) {
+        return;
+    }
+    if(my_skiing_tracker.state == STOP_DETECTION)
+        return;
+
+    // --- 数据预处理和缓冲 ---
+    float acc_device_ms2[3];
+    acc_device_ms2[0] = acc_g[0] * G_ACCELERATION;
+    acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
+    acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;
+
+    #if 1  //测试禁止状态下陀螺仪的三轴加速度，去掉重力分量后是否正常
+    float tmp_device_acc[3];
+    float tmp_world_acc[3];
+    // remove_gravity_in_device_frame(acc_device_ms2,angle,tmp_device_acc);
+    // transform_acc_to_world_frame(acc_device_ms2,angle,tmp_world_acc);
+
+    q_remove_gravity_with_quaternion(acc_device_ms2,quaternion_data,tmp_device_acc);
+    q_transform_to_world_with_quaternion(acc_device_ms2,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]);
+
+    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]);
+    
+
+    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);  //去掉重力加速度
+        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, all %.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]);
+        count = 0;
+        
+    }
+    count++;
+    
+    #endif
+
+}
+
+
+
+/**
+ * @brief 滑雪数据计算
+ * 
+ * @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
+ */
+BLE_send_data_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));
+    }
+
+    // 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);
+        initialized = 1;
+        printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
+    }
+
+    
+    #if ACC_RANGE==2
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 16384.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 16384.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 16384.0f;
+    #endif
+
+    #if ACC_RANGE==4
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 8192.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 8192.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 8192.0f;
+    #endif
+
+    #if ACC_RANGE==8
+    //±8g	4096
+    acc_data_g[0] = (float)acc_data_buf[0] / 4096.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 4096.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 4096.0f; //az
+	#endif
+
+    #if ACC_RANGE==16
+    //±16g	2048
+    acc_data_g[0] = (float)acc_data_buf[0] / 2048.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 2048.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 2048.0f; //az
+	#endif
+
+    // 陀螺仪 LSB to dps (度/秒)
+    // ±2000dps量程下，转换系数约为 0.061
+    gyr_data_dps[0] = (float)gyr_data_buf[0] * 0.061f;
+    gyr_data_dps[1] = (float)gyr_data_buf[1] * 0.061f;
+    gyr_data_dps[2] = (float)gyr_data_buf[2] * 0.061f;
+
+    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;
+}
+

apps/earphone/xtell_Sensor/A_hide/11_test/skiing_tracker.h

@@ -0,0 +1,88 @@
+#ifndef SKIING_TRACKER_H
+#define SKIING_TRACKER_H
+
+#include "../xtell.h"
+// 定义滑雪者可能的状态
+typedef enum {
+    STATIC,                   // 静止或动态稳定：0
+    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速：1
+    CONSTANT_SPEED,           // 正在滑雪，匀速：2
+    WOBBLE,                 // 正在原地旋转：3
+    WHEEL,                    // 转弯：4
+    FALLEN,                   // 已摔倒：5
+    TAKING_OFF,               // 起跳冲击阶段：6
+    IN_AIR,                   // 空中失重阶段：7
+    LANDING,                  // 落地冲击阶段：8
+    STOP_DETECTION,           // 停止检测：9
+    UNKNOWN                   // 未知状态：10
+} skiing_state_t;
+
+#define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性
+#define DELTA_TIME 0.01f
+
+
+// 追踪器数据结构体
+typedef struct {
+    // 公开数据
+    float velocity[3];          // 当前速度 (x, y, z)，单位: m/s
+    float distance;             // 总滑行距离，单位: m
+    float speed;                // 当前速率 (标量)，单位: m/s
+    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
+
+    // 用于空中距离计算
+    float time_in_air;                     // 滞空时间计时器
+    float initial_velocity_on_takeoff[3];  // 起跳瞬间的速度向量
+    int airborne_entry_counter;      // 进入空中状态的确认计数器
+    int grounded_entry_counter;      // 落地确认计数器
+
+    // --- 内部计算使用的私有成员 ---
+    // 用于动态零速更新和旋转检测的缓冲区
+    float acc_buffer[VARIANCE_BUFFER_SIZE][3]; // 加速度数据窗口
+    float gyr_buffer[VARIANCE_BUFFER_SIZE][3]; // 角速度数据窗口
+    int buffer_index;                          // 缓冲区当前索引
+    int buffer_filled;                         // 缓冲区是否已填满的标志
+
+    // 用于高通滤波器（巴特沃斯一阶滤波器）的私有成员，以消除加速度的直流偏置
+    float acc_world_filtered[3];  //过滤过的
+    float acc_world_unfiltered_prev[3];  //上一次没过滤的
+
+    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）
+    int gyr_KS_dps[3];    //卡尔曼后，LSB to dps 三轴陀螺仪数据
+    int angle_KS[3];      //卡尔曼后，计算得到的欧若拉角数据
+}BLE_KS_send_data_t;
+
+#ifdef XTELL_TEST
+typedef struct{
+    float acc_variance;   //三轴加速度方差之和
+    float gyr_variance;   //三轴陀螺仪方差之和
+    float acc_magnitude;  //三轴加速度模长
+    float gyr_magnitude;  //三轴陀螺仪模长
+}debug_t;
+#endif
+/**
+ * @brief 初始化滑雪追踪器
+ *
+ * @param tracker 指向 skiing_tracker_t 结构体的指针
+ */
+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);
+#endif // SKIING_TRACKER_H

apps/earphone/xtell_Sensor/A_hide/8/skiing_tracker.c

@@ -1,14 +1,6 @@
 /*
-    动态ZUPT+卡尔曼+巴特沃斯一阶滤波器
-    针对启动滑雪和停止滑雪，设置不同阈值
-    启动滑雪和ZUPT更新的陀螺仪方差阈值分开设置
-        - 启动滑雪的陀螺仪阈值会更宽松一些
-    原地旋转和ZUPT更新的加速度方差阈值分开设置
-        - 原地旋转的加速度阈值更宽松
-    能够从静止状态到变化状态，去根据阈值来判断这个“变化”：进入滑行状态 / 只是原地摆动
-        - 但是还是不够灵敏
-    
-    添加了滑雪过程中转弯判断，参数待调
+    虽然sensor_processing_task是10ms调用一次
+    但是实际上上一次调用该函数的时间点和下一次调用该函数的时间点，会相差40ms
         
 */
 #include "skiing_tracker.h"
@@ -32,6 +24,12 @@
 // 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 SKIING_GYR_VARIANCE_THRESHOLD 15.0f
 
+// --- 滑雪过程 ---
+//加速度 模长，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 1000.0f   //未确定
+
 // --- 原地旋转抖动 --- 
 // 用于原地旋转判断的加速度方差阈值。此值比ZUPT阈值更宽松，
 // 以允许原地旋转时身体的正常晃动，但仍能与真实滑行时的剧烈加速度变化区分开。
@@ -62,8 +60,30 @@ BLE_KS_send_data_t KS_data;
 debug_t debug1;
 debug_t debug2;
 #endif
+
+static skiing_tracker_t my_skiing_tracker;
 //////////////////////////////////////////////////////////////////////////////////////////////////
 //实现
+
+void clear_speed(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+void start_detection(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.distance = 0;
+    my_skiing_tracker.speed = 0;
+}
+
+void stop_detection(void){
+    my_skiing_tracker.state = STOP_DETECTION;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
 /**
  * @brief  初始化滑雪追踪器
  * 
@@ -76,7 +96,7 @@ void skiing_tracker_init(skiing_tracker_t *tracker)
     }
     // 使用memset一次性清零整个结构体，包括新增的缓冲区
     memset(tracker, 0, sizeof(skiing_tracker_t));
-    tracker->state = SKIING_STATE_STATIC;
+    tracker->state = STATIC;
 }
 
 /**
@@ -154,7 +174,7 @@ static float calculate_variance(float buffer[VARIANCE_BUFFER_SIZE][3])
 /**
  * @brief 状态机更新
  * 
- * @param tracker 
+ * @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
  */
@@ -162,7 +182,7 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
 {
     // 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 = SKIING_STATE_STATIC;
+        tracker->state = STATIC;
         return;
     }
 
@@ -171,49 +191,119 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
     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]);
     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]);
+
     #ifdef XTELL_TEST
     debug1.acc_variance =acc_variance;
     debug1.gyr_variance =gyr_variance;
     debug1.gyr_magnitude=gyr_magnitude;
-    debug1.acc_magnitude=acc_magnitude - G_ACCELERATION;
+    debug1.acc_magnitude=fabsf(acc_magnitude - G_ACCELERATION);
     #endif
     
-    // --- 状态切换逻辑 (按优先级) ---
+#if 0
+    //正在滑雪
+    if(tracker->state == NO_CONSTANT_SPEED ) {
+        //摔倒了
+        if(gyr_magnitude > FALLEN_GRY_MAG_THRESHOLD){  
+            tracker->state = FALLEN;
+            return;
+        }
+        //可能进入了匀速状态
+        if(gyr_magnitude > SKIING_GYR_MAG_THRESHOLD && acc_magnitude < SKIING_ACC_MAG_THRESHOLD){
+            tracker->state = CONSTANT_SPEED;
+            return;
+        }
+        //急转弯
+        if(gyr_magnitude > WHEEL_GYR_MAG_THRESHOLD && acc_variance > WHEEL_ACC_VARIANCE_THRESHOLD){
+            //TODO：可以考虑清掉速度消除积分带来的漂移
+            tracker->state = WHEEL;
+            return;
+        }
+    }
 
-    // 优先级1：动态零速更新 (ZUPT) - 最严格和最优先的“刹车”
+    // --- 状态切换逻辑 (按优先级) ---
+    // 优先级1：静止
     if (acc_variance < ZUPT_ACC_VARIANCE_THRESHOLD && gyr_variance < ZUPT_GYR_VARIANCE_THRESHOLD) {
-        tracker->state = SKIING_STATE_STATIC;
+        tracker->state = STATIC;
         // 速度清零，抑制漂移
         memset(tracker->velocity, 0, sizeof(tracker->velocity));
         tracker->speed = 0.0f;
-        // 关键：当检测到静止时，必须重置高通滤波器的状态
         memset(tracker->acc_world_unfiltered_prev, 0, sizeof(tracker->acc_world_unfiltered_prev));
         memset(tracker->acc_world_filtered, 0, sizeof(tracker->acc_world_filtered));
         return;
     }
 
-    if(tracker->state == SKIING_STATE_SKIING && gyr_magnitude > WHEEL_GYR_MAG_THRESHOLD && acc_variance > WHEEL_ACC_VARIANCE_THRESHOLD){
-        //TODO：可以考虑清掉速度消除积分带来的漂移
-        tracker->state = SKIING_STATE_ROTATING;
-        return;
-    }
+   
 
     // 优先级2：原地旋转 - 特殊的、非滑雪的运动状态
     // 条件：角速度很大，同时线性加速度的晃动在一个“中等”范围内。
-    if (tracker->state == SKIING_STATE_STATIC && gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
-        tracker->state = SKIING_STATE_ROTATING;
+    if (tracker->state == STATIC && gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
+        tracker->state = ROTATING;
         return;
     }
 
     // 优先级3：启动滑雪 - “油门”
     // 条件：有足够大的线性加速度，同时陀螺仪的抖动在一个“合理”（而非“完全静止”）的范围内。
     if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance < SKIING_GYR_VARIANCE_THRESHOLD) {
-        tracker->state = SKIING_STATE_SKIING;
+        tracker->state = NO_CONSTANT_SPEED;
         return;
     }
 
     // 如果不满足任何启动或停止条件，则保持当前状态（滑雪中）
     // 如果当前是静止或旋转，但没有满足启动条件，则状态会保持，直到满足ZUPT或旋转条件。
+#else
+
+    // 无论当前是什么状态，静止总是最高优先级
+    if (acc_variance < ZUPT_ACC_VARIANCE_THRESHOLD && gyr_variance < ZUPT_GYR_VARIANCE_THRESHOLD) {
+        tracker->state = STATIC;
+        // 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));
+        return;
+    }
+
+    switch (tracker->state) {
+        case STATIC:
+            //不break，会往下执行，判断是否进入非匀速状态
+        case ROTATING: // 从静止或原地旋转可以启动
+            if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance < SKIING_GYR_VARIANCE_THRESHOLD) {
+                tracker->state = NO_CONSTANT_SPEED;
+            } else if (gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
+                tracker->state = ROTATING;
+            }
+            break;
+        case NO_CONSTANT_SPEED:  //非匀速状态
+            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_SKIING_ACC_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;
+    }
+#endif
+
 }
 
 
@@ -231,6 +321,8 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
     if (!tracker || !acc_g || !gyr_dps || !angle || dt <= 0) {
         return;
     }
+    if(my_skiing_tracker.state == STOP_DETECTION)
+        return;
 
     // --- 数据预处理和缓冲 ---
     float acc_device_ms2[3];
@@ -251,22 +343,20 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
     // --- 更新状态机 ---
     update_state_machine(tracker, acc_device_ms2, gyr_dps);
 
+    // 坐标转换 & 移除重力
+    transform_acc_to_world_frame(acc_device_ms2, angle, tracker->acc_world);
+    tracker->acc_world[2] -= G_ACCELERATION;
+
+    // 对世界坐标系下的加速度进行高通滤波，消除直流偏置和重力残差
+    for (int i = 0; i < 3; i++) {
+        tracker->acc_world_filtered[i] = HPF_ALPHA * (tracker->acc_world_filtered[i] + tracker->acc_world[i] - tracker->acc_world_unfiltered_prev[i]);
+        tracker->acc_world_unfiltered_prev[i] = tracker->acc_world[i];
+    }
+    // 应用加速度死区，忽略微小抖动和噪声
+    float acc_horizontal_mag = sqrtf(tracker->acc_world_filtered[0] * tracker->acc_world_filtered[0] +
+                                        tracker->acc_world_filtered[1] * tracker->acc_world_filtered[1]);
     // --- 根据状态进行计算 ---
-    if (tracker->state == SKIING_STATE_SKIING) {
-        // 坐标转换 & 移除重力
-        transform_acc_to_world_frame(acc_device_ms2, angle, tracker->acc_world);
-        tracker->acc_world[2] -= G_ACCELERATION;
-
-        // 对世界坐标系下的加速度进行高通滤波，消除直流偏置和重力残差
-        for (int i = 0; i < 3; i++) {
-            tracker->acc_world_filtered[i] = HPF_ALPHA * (tracker->acc_world_filtered[i] + tracker->acc_world[i] - tracker->acc_world_unfiltered_prev[i]);
-            tracker->acc_world_unfiltered_prev[i] = tracker->acc_world[i];
-        }
-
-        // 应用加速度死区，忽略微小抖动和噪声
-        float acc_horizontal_mag = sqrtf(tracker->acc_world_filtered[0] * tracker->acc_world_filtered[0] +
-                                         tracker->acc_world_filtered[1] * tracker->acc_world_filtered[1]);
-
+    if (tracker->state == NO_CONSTANT_SPEED) {
         if (acc_horizontal_mag > ACC_DEAD_ZONE_THRESHOLD) {
             // 只有当水平加速度足够大时，才进行速度积分
             tracker->velocity[0] += tracker->acc_world_filtered[0] * dt;
@@ -278,8 +368,22 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
         debug2.acc_magnitude = acc_horizontal_mag;
         #endif
         // 如果加速度小于阈值，则不更新速度，相当于速度保持不变（或受下一步的阻尼影响而衰减）
+         
+        // --- 更新速率和距离 ---
+        // 只基于水平速度计算速率和距离
+        tracker->speed = sqrtf(tracker->velocity[0] * tracker->velocity[0] +
+                            tracker->velocity[1] * tracker->velocity[1]);
+        tracker->distance += tracker->speed * dt;
+        
 
-    } else {
+    }else if(tracker->state == CONSTANT_SPEED){ //匀速
+        #ifdef XTELL_TEST
+        debug2.acc_magnitude = acc_horizontal_mag;
+        #endif
+        //保持上次的速度不变。只更新距离
+        tracker->distance += tracker->speed * dt;
+        
+    }else{
         // 在静止或旋转状态下，速度已经在状态机内部被清零
         // 额外增加速度衰减，模拟摩擦力，进一步抑制漂移
         tracker->velocity[0] *= SPEED_ATTENUATION;
@@ -287,11 +391,7 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
         tracker->velocity[2] = 0; // 垂直速度强制归零
     }
 
-    // --- 更新速率和距离 ---
-    // 只基于水平速度计算速率和距离
-    tracker->speed = sqrtf(tracker->velocity[0] * tracker->velocity[0] +
-                           tracker->velocity[1] * tracker->velocity[1]);
-    tracker->distance += tracker->speed * dt;
+   
 }
 
 
@@ -304,7 +404,7 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
   * @return BLE_send_data_t 
   */
 BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short * gyr_data_buf) {
-    static skiing_tracker_t my_skiing_tracker;
+    
     static int initialized = 0;
     static int calibration_done = 0;
 
@@ -316,9 +416,6 @@ BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short
     const float delta_time = DELTA_TIME + 0.03f;
     BLE_send_data_t BLE_send_data;
     
-
-
-
     if (!initialized) {
         skiing_tracker_init(&my_skiing_tracker);
         initialized = 1;

apps/earphone/xtell_Sensor/A_hide/8/skiing_tracker.h

@@ -4,11 +4,14 @@
 #include "../xtell.h"
 // 定义滑雪者可能的状态
 typedef enum {
-    SKIING_STATE_STATIC,        // 静止或动态稳定
-    SKIING_STATE_SKIING,        // 正在滑雪
-    SKIING_STATE_ROTATING,      // 正在原地旋转 (新增)
-    SKIING_STATE_FALLEN,        // 已摔倒
-    SKIING_STATE_UNKNOWN        // 未知状态
+    STATIC,                   // 静止或动态稳定
+    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速
+    CONSTANT_SPEED,           // 正在滑雪，匀速
+    ROTATING,                 // 正在原地旋转
+    WHEEL,                    // 转弯
+    FALLEN,                   // 已摔倒
+    STOP_DETECTION,           // 停止检测
+    UNKNOWN                   // 未知状态
 } skiing_state_t;
 
 #define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性

apps/earphone/xtell_Sensor/A_hide/9/skiing_tracker.c

@@ -0,0 +1,583 @@
+/*
+        
+*/
+#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)
+
+// --- 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
+// --- --- --- 
+
+// --- 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;
+
+#ifdef XTELL_TEST
+
+debug_t debug1;
+debug_t debug2;
+#endif
+
+static skiing_tracker_t my_skiing_tracker;
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//实现
+
+void clear_speed(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+void start_detection(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.distance = 0;
+    my_skiing_tracker.speed = 0;
+}
+
+void stop_detection(void){
+    my_skiing_tracker.state = STOP_DETECTION;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+/**
+ * @brief  初始化滑雪追踪器
+ * 
+ * @param tracker 
+ */
+void skiing_tracker_init(skiing_tracker_t *tracker)
+{
+    if (!tracker) {
+        return;
+    }
+    // 使用memset一次性清零整个结构体，包括新增的缓冲区
+    memset(tracker, 0, sizeof(skiing_tracker_t));
+    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;
+}
+
+/**
+ * @brief 将设备坐标系下的加速度转换为世界坐标系
+ * @param acc_device 设备坐标系下的加速度 [x, y, z]
+ * @param angle 姿态角 [pitch, roll, yaw]，单位: 度
+ * @param acc_world 输出：世界坐标系下的加速度 [x, y, z]
+ */
+static void transform_acc_to_world_frame(const float *acc_device, const float *angle, float *acc_world)
+{
+    // 驱动输出的角度与标准航空定义相反，需要取反才能用于标准旋转矩阵。
+    float pitch = -angle[0] * DEG_TO_RAD;
+    float roll  = -angle[1] * DEG_TO_RAD;
+
+    // TODO: 当引入三轴磁力计后，这里的 yaw 应由磁力计和陀螺仪融合解算得出，以解决航向漂移问题。
+    // 目前 yaw 暂时不参与计算，因为仅靠加速度计和陀螺仪无法获得准确的绝对航向角。
+    // float yaw = -angle[2] * DEG_TO_RAD;
+
+    float cp = cosf(pitch);
+    float sp = sinf(pitch);
+    float cr = cosf(roll);
+    float sr = sinf(roll);
+
+    float ax = acc_device[0];
+    float ay = acc_device[1];
+    float az = acc_device[2];
+
+    // 使用经过验证的、正确的身体坐标系到世界坐标系的旋转矩阵 (基于 Y-X 旋转顺序)
+    // 这个矩阵将设备测量的加速度(ax, ay, az)正确地转换到世界坐标系(acc_world)。
+    // 注意：这里没有使用yaw，主要关心的是坡面上的运动，绝对航向暂时不影响速度和距离的计算。
+    // TODO
+    acc_world[0] = cp * ax + sp * sr * ay + sp * cr * az;
+    acc_world[1] = 0  * ax + cr * ay      - sr * az;
+    acc_world[2] = -sp * ax + cp * sr * ay + cp * cr * az;
+}
+
+
+/**
+ * @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 && 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
+ * 
+ * @param tracker 
+ * @param acc_g 三轴加速度，g
+ * @param gyr_dps 三轴陀螺仪，dps
+ * @param angle 欧若拉角
+ * @param dt 采样时间间隔，会用来积分求速度
+ */
+void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_dps, float *angle, float dt)
+{
+    if (!tracker || !acc_g || !gyr_dps || !angle || dt <= 0) {
+        return;
+    }
+    if(my_skiing_tracker.state == STOP_DETECTION)
+        return;
+
+    // --- 数据预处理和缓冲 ---
+    float acc_device_ms2[3];
+    acc_device_ms2[0] = acc_g[0] * G_ACCELERATION;
+    acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
+    acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;
+
+    // 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:
+            transform_acc_to_world_frame(acc_device_ms2, angle, tracker->acc_world);
+            tracker->acc_world[2] -= G_ACCELERATION;
+
+            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_world[i] - tracker->acc_world_unfiltered_prev[i]);
+                tracker->acc_world_unfiltered_prev[i] = tracker->acc_world[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;
+    }
+
+}
+
+
+
+/**
+ * @brief 滑雪数据计算
+ * 
+ * @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
+ */
+BLE_send_data_t sensor_processing_task(signed short* acc_data_buf, signed short* gyr_data_buf, float* angle_data) {
+    
+    static int initialized = 0;
+    static float acc_data_g[3];
+    static float gyr_data_dps[3];
+
+    // 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);
+        initialized = 1;
+        printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
+    }
+
+    
+    #if ACC_RANGE==2
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 16384.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 16384.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 16384.0f;
+    #endif
+
+    #if ACC_RANGE==4
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 8192.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 8192.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 8192.0f;
+    #endif
+
+    #if ACC_RANGE==8
+    //±8g	4096
+    acc_data_g[0] = (float)acc_data_buf[0] / 4096.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 4096.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 4096.0f; //az
+	#endif
+
+    #if ACC_RANGE==16
+    //±16g	2048
+    acc_data_g[0] = (float)acc_data_buf[0] / 2048.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 2048.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 2048.0f; //az
+	#endif
+
+    // 陀螺仪 LSB to dps (度/秒)
+    // ±2000dps量程下，转换系数约为 0.061
+    gyr_data_dps[0] = (float)gyr_data_buf[0] * 0.061f;
+    gyr_data_dps[1] = (float)gyr_data_buf[1] * 0.061f;
+    gyr_data_dps[2] = (float)gyr_data_buf[2] * 0.061f;
+
+    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;
+}
+

apps/earphone/xtell_Sensor/A_hide/9/skiing_tracker.h

@@ -0,0 +1,88 @@
+#ifndef SKIING_TRACKER_H
+#define SKIING_TRACKER_H
+
+#include "../xtell.h"
+// 定义滑雪者可能的状态
+typedef enum {
+    STATIC,                   // 静止或动态稳定：0
+    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速：1
+    CONSTANT_SPEED,           // 正在滑雪，匀速：2
+    WOBBLE,                 // 正在原地旋转：3
+    WHEEL,                    // 转弯：4
+    FALLEN,                   // 已摔倒：5
+    TAKING_OFF,               // 起跳冲击阶段：6
+    IN_AIR,                   // 空中失重阶段：7
+    LANDING,                  // 落地冲击阶段：8
+    STOP_DETECTION,           // 停止检测：9
+    UNKNOWN                   // 未知状态：10
+} skiing_state_t;
+
+#define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性
+#define DELTA_TIME 0.01f
+
+
+// 追踪器数据结构体
+typedef struct {
+    // 公开数据
+    float velocity[3];          // 当前速度 (x, y, z)，单位: m/s
+    float distance;             // 总滑行距离，单位: m
+    float speed;                // 当前速率 (标量)，单位: m/s
+    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
+
+    // 用于空中距离计算
+    float time_in_air;                     // 滞空时间计时器
+    float initial_velocity_on_takeoff[3];  // 起跳瞬间的速度向量
+    int airborne_entry_counter;      // 进入空中状态的确认计数器
+    int grounded_entry_counter;      // 落地确认计数器
+
+    // --- 内部计算使用的私有成员 ---
+    // 用于动态零速更新和旋转检测的缓冲区
+    float acc_buffer[VARIANCE_BUFFER_SIZE][3]; // 加速度数据窗口
+    float gyr_buffer[VARIANCE_BUFFER_SIZE][3]; // 角速度数据窗口
+    int buffer_index;                          // 缓冲区当前索引
+    int buffer_filled;                         // 缓冲区是否已填满的标志
+
+    // 用于高通滤波器（巴特沃斯一阶滤波器）的私有成员，以消除加速度的直流偏置
+    float acc_world_filtered[3];  //过滤过的
+    float acc_world_unfiltered_prev[3];  //上一次没过滤的
+
+    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）
+    int gyr_KS_dps[3];    //卡尔曼后，LSB to dps 三轴陀螺仪数据
+    int angle_KS[3];      //卡尔曼后，计算得到的欧若拉角数据
+}BLE_KS_send_data_t;
+
+#ifdef XTELL_TEST
+typedef struct{
+    float acc_variance;   //三轴加速度方差之和
+    float gyr_variance;   //三轴陀螺仪方差之和
+    float acc_magnitude;  //三轴加速度模长
+    float gyr_magnitude;  //三轴陀螺仪模长
+}debug_t;
+#endif
+/**
+ * @brief 初始化滑雪追踪器
+ *
+ * @param tracker 指向 skiing_tracker_t 结构体的指针
+ */
+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) ;
+#endif // SKIING_TRACKER_H

apps/earphone/xtell_Sensor/A_hide/calculate/skiing_tracker.c

@@ -0,0 +1,651 @@
+/*
+        
+*/
+#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
+#undef xlog
+#endif
+#if ENABLE_XLOG
+    #define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
+#else
+    #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
+// --- --- --- 
+
+// --- 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;
+debug_t debug2;
+#endif
+
+static skiing_tracker_t my_skiing_tracker;
+//////////////////////////////////////////////////////////////////////////////////////////////////
+//实现
+
+void clear_speed(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+void start_detection(void){
+    my_skiing_tracker.state = STATIC;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.distance = 0;
+    my_skiing_tracker.speed = 0;
+}
+
+void stop_detection(void){
+    my_skiing_tracker.state = STOP_DETECTION;
+    memset(my_skiing_tracker.velocity, 0, sizeof(my_skiing_tracker.velocity));
+    my_skiing_tracker.speed = 0;
+}
+
+/**
+ * @brief  初始化滑雪追踪器
+ * 
+ * @param tracker 
+ */
+void skiing_tracker_init(skiing_tracker_t *tracker)
+{
+    if (!tracker) {
+        return;
+    }
+    // 使用memset一次性清零整个结构体，包括新增的缓冲区
+    memset(tracker, 0, sizeof(skiing_tracker_t));
+    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;
+}
+
+
+
+/**
+ * @brief 使用四元数直接从设备坐标系的加速度中移除重力分量
+ * @details 这种方法比使用欧拉角更精确、更稳定，且避免了万向节死锁。
+ * @param acc_device        输入：设备坐标系下的原始加速度 [x, y, z], 单位 m/s^2
+ * @param q                 输入：表示姿态的四元数 [w, x, y, z]
+ * @param acc_linear_device 输出：设备坐标系下移除重力后的线性加速度 [x, y, z]
+ */
+void q_remove_gravity_with_quaternion(const float *acc_device, const float *q, float *acc_linear_device)
+{
+    // 从四元数计算重力在设备坐标系下的投影
+    // G_device = R_transpose * G_world
+    // G_world = [0, 0, g]
+    // R_transpose 的第三列即为重力投影方向
+    float gx = 2.0f * (q[1] * q[3] - q[0] * q[2]);
+    float gy = 2.0f * (q[0] * q[1] + q[2] * q[3]);
+    float gz = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
+
+    // 从原始加速度中减去重力分量
+    acc_linear_device[0] = acc_device[0] - gx * G_ACCELERATION;
+    acc_linear_device[1] = acc_device[1] - gy * G_ACCELERATION;
+    acc_linear_device[2] = acc_device[2] - gz * G_ACCELERATION;
+}
+
+/**
+ * @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]
+ * @param acc_linear_world  输出：世界坐标系下的线性加速度 [x, y, z]
+ */
+void q_transform_to_world_with_quaternion(const float *acc_linear_device, const float *q, float *acc_linear_world)
+{
+    // 这是 R_device_to_world * acc_linear_device 的展开形式
+    acc_linear_world[0] = (1.0f - 2.0f*q[2]*q[2] - 2.0f*q[3]*q[3]) * acc_linear_device[0] +
+                          (2.0f*q[1]*q[2] - 2.0f*q[0]*q[3]) * acc_linear_device[1] +
+                          (2.0f*q[1]*q[3] + 2.0f*q[0]*q[2]) * acc_linear_device[2];
+
+    acc_linear_world[1] = (2.0f*q[1]*q[2] + 2.0f*q[0]*q[3]) * acc_linear_device[0] +
+                          (1.0f - 2.0f*q[1]*q[1] - 2.0f*q[3]*q[3]) * acc_linear_device[1] +
+                          (2.0f*q[2]*q[3] - 2.0f*q[0]*q[1]) * acc_linear_device[2];
+
+    acc_linear_world[2] = (2.0f*q[1]*q[3] - 2.0f*q[0]*q[2]) * acc_linear_device[0] +
+                          (2.0f*q[2]*q[3] + 2.0f*q[0]*q[1]) * acc_linear_device[1] +
+                          (1.0f - 2.0f*q[1]*q[1] - 2.0f*q[2]*q[2]) * acc_linear_device[2];
+    // acc_linear_world[2] -= G_ACCELERATION;
+}
+
+
+
+/**
+ * @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
+ * 
+ * @param tracker 
+ * @param acc_g 三轴加速度，g
+ * @param gyr_dps 三轴陀螺仪，dps
+ * @param angle 欧若拉角
+ * @param dt 采样时间间隔，会用来积分求速度
+ */
+void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_dps, float *angle, float dt)
+{
+    if (!tracker || !acc_g || !gyr_dps || !angle || dt <= 0) {
+        return;
+    }
+    if(my_skiing_tracker.state == STOP_DETECTION)
+        return;
+
+    // --- 数据预处理和缓冲 ---
+    float acc_device_ms2[3];
+    acc_device_ms2[0] = acc_g[0] * G_ACCELERATION;
+    acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
+    acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;
+
+    // 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];
+    // 在设备坐标系下，移除重力，得到线性加速度
+    q_remove_gravity_with_quaternion(acc_device_ms2, quaternion_data, linear_acc_device);
+
+    // 将设备坐标系下的线性加速度，旋转到世界坐标系
+    q_transform_to_world_with_quaternion(linear_acc_device, quaternion_data, tmp_world_acc);
+
+    
+    float all_world_mag = sqrtf(tmp_world_acc[0] * tmp_world_acc[0] +
+                                        tmp_world_acc[1] * tmp_world_acc[1] + 
+                                        tmp_world_acc[2] * tmp_world_acc[2]);
+    
+    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("===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]);
+        count = 0;
+        
+    }
+    count++;
+    #endif
+
+
+}
+
+
+
+/**
+ * @brief 滑雪数据计算
+ * 
+ * @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
+ */
+BLE_send_data_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));
+    }
+
+    // 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);
+        initialized = 1;
+        printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
+    }
+
+    
+    #if ACC_RANGE==2
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 16384.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 16384.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 16384.0f;
+    #endif
+
+    #if ACC_RANGE==4
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 8192.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 8192.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 8192.0f;
+    #endif
+
+    #if ACC_RANGE==8
+    //±8g	4096
+    acc_data_g[0] = (float)acc_data_buf[0] / 4096.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 4096.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 4096.0f; //az
+	#endif
+
+    #if ACC_RANGE==16
+    //±16g	2048
+    acc_data_g[0] = (float)acc_data_buf[0] / 2048.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 2048.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 2048.0f; //az
+	#endif
+
+    // 陀螺仪 LSB to dps (度/秒)
+    // ±2000dps量程下，转换系数约为 0.061
+    gyr_data_dps[0] = (float)gyr_data_buf[0] * 0.061f;
+    gyr_data_dps[1] = (float)gyr_data_buf[1] * 0.061f;
+    gyr_data_dps[2] = (float)gyr_data_buf[2] * 0.061f;
+
+    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;
+}
+

apps/earphone/xtell_Sensor/A_hide/calculate/skiing_tracker.h

@@ -0,0 +1,88 @@
+#ifndef SKIING_TRACKER_H
+#define SKIING_TRACKER_H
+
+#include "../xtell.h"
+// 定义滑雪者可能的状态
+typedef enum {
+    STATIC,                   // 静止或动态稳定：0
+    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速：1
+    CONSTANT_SPEED,           // 正在滑雪，匀速：2
+    WOBBLE,                 // 正在原地旋转：3
+    WHEEL,                    // 转弯：4
+    FALLEN,                   // 已摔倒：5
+    TAKING_OFF,               // 起跳冲击阶段：6
+    IN_AIR,                   // 空中失重阶段：7
+    LANDING,                  // 落地冲击阶段：8
+    STOP_DETECTION,           // 停止检测：9
+    UNKNOWN                   // 未知状态：10
+} skiing_state_t;
+
+#define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性
+#define DELTA_TIME 0.01f
+
+
+// 追踪器数据结构体
+typedef struct {
+    // 公开数据
+    float velocity[3];          // 当前速度 (x, y, z)，单位: m/s
+    float distance;             // 总滑行距离，单位: m
+    float speed;                // 当前速率 (标量)，单位: m/s
+    skiing_state_t state;       // 当前滑雪状态
+
+    // 内部计算使用的私有成员
+    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
+    float initial_velocity_on_takeoff[3];  // 起跳瞬间的速度向量
+    int airborne_entry_counter;      // 进入空中状态的确认计数器
+    int grounded_entry_counter;      // 落地确认计数器
+
+    // --- 内部计算使用的私有成员 ---
+    // 用于动态零速更新和旋转检测的缓冲区
+    float acc_buffer[VARIANCE_BUFFER_SIZE][3]; // 加速度数据窗口
+    float gyr_buffer[VARIANCE_BUFFER_SIZE][3]; // 角速度数据窗口
+    int buffer_index;                          // 缓冲区当前索引
+    int buffer_filled;                         // 缓冲区是否已填满的标志
+
+    // 用于高通滤波器（巴特沃斯一阶滤波器）的私有成员，以消除加速度的直流偏置
+    float acc_world_filtered[3];  //过滤过的
+    float acc_world_unfiltered_prev[3];  //上一次没过滤的
+
+    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）
+    int gyr_KS_dps[3];    //卡尔曼后，LSB to dps 三轴陀螺仪数据
+    int angle_KS[3];      //卡尔曼后，计算得到的欧若拉角数据
+}BLE_KS_send_data_t;
+
+#ifdef XTELL_TEST
+typedef struct{
+    float acc_variance;   //三轴加速度方差之和
+    float gyr_variance;   //三轴陀螺仪方差之和
+    float acc_magnitude;  //三轴加速度模长
+    float gyr_magnitude;  //三轴陀螺仪模长
+}debug_t;
+#endif
+/**
+ * @brief 初始化滑雪追踪器
+ *
+ * @param tracker 指向 skiing_tracker_t 结构体的指针
+ */
+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);
+#endif // SKIING_TRACKER_H

apps/earphone/xtell_Sensor/README.md

@@ -1,4 +1,4 @@
-# 时间间隔
+# 时间间隔 -- 软件模拟iic的情况下
 
 目前测试代码如下：
 
@@ -31,8 +31,65 @@ sensor_processing_task当中就进行了计算，包括卡尔曼等，在timer
 计算距离不能直接采用timers设置的时间间隔作为dt来求距离，实际每次计算求速度的时间应该是40ms
 
 
+# 11.13
+
+代码主要文件夹：apps\earphone\xtell_Sensor
+
+- apps\earphone\xtell_Sensor\send_data.c，‘ xtell_task_create ’ 函数，传感器计算程序逻辑开始位置，包括传感器读取数据的任务、蓝牙发送任务、速度距离计算任务
+
+- apps\earphone\xtell_Sensor\calculate：目前只有计算传感器去除重力分量的代码
+  - 问题：存在漂移
+    - 水平的情况下三轴去掉重力分量，计算出来的结果, 误差有0.0x m/s^s
+      - original(g): x -0.02, y 0.00, z 1.00
+        device(m/s^2) no g: x -0.08, y -0.01, z -0.04, all 0.08
+
+    - 在板子任意倾斜角度下，去掉各轴重力分量的情况下，误差有0.3x m/s^s
+      - ===original(g): x -0.20, y -0.85, z 0.41===
+
+      - ===device(m/s^2) no g: x 0.06, y 0.31, z -0.10, all 0.33===
+
+- apps\earphone\xtell_Sensor\sensor：传感器驱动，参与编译的为SC7U22.c和SC7U22.h
+- apps\earphone\xtell_Sensor\A_hide：速度和距离计算代码
+  - 最新一版为apps\earphone\xtell_Sensor\A_hide\10\，水平距离测速2、3m误差
+  - 要使用只需要把代码复制粘贴到calculate文件夹下
 
 
 
+# 11.18
+
+去除重力分量后仍有误差：
+
+- 数据对齐？
+- 有没有丢数据？
+- 重复定位的数据？
+- 静态时的角度误差？
 
 
+
+定时器1的回调函数（10ms调用一次）**A**：读取传感器数据，放进buff
+
+定时器2的回调函数（5ms调用一次）**B**：读取buff的传感器数据，去除重力分离的计算
+
+- **数据没有对齐**，A 的回调调用计数 > B 的回调调用计数
+- **丢数据了**，A 读取传感器数据的回调函数中，打印了buff已满的log
+- **重复定位**：移动后回到原先的位置，前后的计算得到的三轴角度相同
+- **静态时的角度误差**：1°左右
+- 定时器2不进行重力分离计算，只进行计数，也仍然有数据没有对齐和丢数据的情况
+
+
+
+将读取传感器数据、去除重力分量计算放到同一个任务下，同步进行
+
+- 数据没有丢失，数据也对齐了 
+  - 在小倾斜的坡面下，去除重力分量后的总的加速度，**小于0.1m/s^2**
+  - 在大倾斜的坡面下（如旋转超过70°），去除重力分量后的总的加速度，在**0.4m/s^2上下**
+- 貌似是角度越大，越接近方向锁，导致角度更容易漂移造错数据错误
+
+采用四元数的方式做去除重力分量的计算：
+
+- 将读取传感器数据、去除重力分量计算放到同一个任务下
+
+  - 在小倾斜的坡面下，去除重力分量后的总的加速度，低于**0.04m/s^2**
+  - 在大倾斜的坡面下（如旋转超过70°），去除重力分量后的总的加速度，在**0.1m/s^2上下**
+
+  - 大倾斜角度的误差要靠磁力计来消除（yaw无法通过加速度计来消除偏差）

apps/earphone/xtell_Sensor/ano/ano_protocol.c

@@ -0,0 +1,166 @@
+/*
+    发送数据给上位机的,需要将log打印出口关闭
+*/
+
+#include "ano_protocol.h"
+#include "asm/uart_dev.h"
+#include "app_config.h" 
+
+// 定义协议常量
+#define ANO_FRAME_HEADER    0xAA
+#define ANO_TO_COMPUTER_ADDR 0xFF
+
+// 用于保存 uart_dev_open 返回的句柄
+static const uart_bus_t *ano_uart_dev = NULL;
+
+/**
+ * @brief 计算并填充协议的校验和
+ * @param frame_buffer 指向数据帧缓冲区的指针
+ */
+static void ano_calculate_checksum(u8 *frame_buffer) {
+    #if TCFG_UART0_ENABLE==0
+    u8 sum_check = 0;
+    u8 add_check = 0;
+    
+    // 数据长度在索引为 3 的位置
+    u8 data_len = frame_buffer[3];
+    // 需要计算校验和的总长度 = 帧头(1) + 地址(1) + ID(1) + 长度(1) + 数据(data_len)
+    u16 checksum_len = 4 + data_len;
+
+    for (u16 i = 0; i < checksum_len; i++) {
+        sum_check += frame_buffer[i];
+        add_check += sum_check;
+    }
+
+    // 将计算出的校验和填充到帧的末尾
+    frame_buffer[checksum_len] = sum_check;
+    frame_buffer[checksum_len + 1] = add_check;
+    #endif
+}
+
+/**
+ * @brief 初始化用于上位机通信的串口
+ */
+int ano_protocol_init(u32 baudrate) {
+    #if TCFG_UART0_ENABLE==0
+    // 防止重复初始化
+    if (ano_uart_dev) {
+        return 0;
+    }
+
+    struct uart_platform_data_t ut_arg = {0};
+    
+    // TCFG_ONLINE_TX_PORT 和 TCFG_ONLINE_RX_PORT 通常在 app_config.h 中定义
+    ut_arg.tx_pin = TCFG_ONLINE_TX_PORT;
+    ut_arg.rx_pin = (u8)-1; // -1 表示不使用该引脚，因为我们只发送数据
+    ut_arg.baud = baudrate;
+    
+    // 以下为接收相关配置，由于只发送，全部设为0或NULL
+    ut_arg.rx_cbuf = NULL;
+    ut_arg.rx_cbuf_size = 0;
+    ut_arg.frame_length = 0;
+    ut_arg.rx_timeout = 0;
+    ut_arg.isr_cbfun = NULL;
+    
+    ano_uart_dev = (uart_bus_t *)uart_dev_open(&ut_arg);
+
+    if (ano_uart_dev == NULL) {
+        return -1;
+    }
+    #endif
+    return 0;
+
+}
+
+/**
+ * @brief 发送惯性传感器数据 (ID: 0x01)
+ */
+void ano_send_inertial_data(s16 acc_x, s16 acc_y, s16 acc_z, 
+                            s16 gyr_x, s16 gyr_y, s16 gyr_z, 
+                            u8 shock_sta) {
+    #if TCFG_UART0_ENABLE==0                            
+    if (ano_uart_dev == NULL) {
+        return; // 如果串口未初始化，则不执行任何操作
+    }
+
+    // 帧总长度 = 4(固定头) + 13(数据) + 2(校验) = 19 字节
+    u8 frame_buffer[19];
+    u8 data_idx = 4; // DATA区域从索引4开始
+
+    // 1. 填充帧头、地址、ID、长度
+    frame_buffer[0] = ANO_FRAME_HEADER;
+    frame_buffer[1] = ANO_TO_COMPUTER_ADDR;
+    frame_buffer[2] = 0x01; // 功能码 ID
+    frame_buffer[3] = 13;   // 数据长度 LEN
+
+    // 2. 填充数据内容 (DATA)，注意小端模式 (低字节在前)
+    frame_buffer[data_idx++] = (u8)(acc_x & 0xFF);
+    frame_buffer[data_idx++] = (u8)(acc_x >> 8);
+    frame_buffer[data_idx++] = (u8)(acc_y & 0xFF);
+    frame_buffer[data_idx++] = (u8)(acc_y >> 8);
+    frame_buffer[data_idx++] = (u8)(acc_z & 0xFF);
+    frame_buffer[data_idx++] = (u8)(acc_z >> 8);
+    
+    frame_buffer[data_idx++] = (u8)(gyr_x & 0xFF);
+    frame_buffer[data_idx++] = (u8)(gyr_x >> 8);
+    frame_buffer[data_idx++] = (u8)(gyr_y & 0xFF);
+    frame_buffer[data_idx++] = (u8)(gyr_y >> 8);
+    frame_buffer[data_idx++] = (u8)(gyr_z & 0xFF);
+    frame_buffer[data_idx++] = (u8)(gyr_z >> 8);
+    
+    frame_buffer[data_idx++] = shock_sta;
+
+    // 3. 计算并填充校验和
+    ano_calculate_checksum(frame_buffer);
+
+    // 4. 通过串口发送整个数据帧
+    ano_uart_dev->write(frame_buffer, sizeof(frame_buffer));
+    #endif
+}
+
+
+/**
+ * @brief 发送飞控姿态数据 (ID: 0x03)
+ * 
+ * @param rol 
+ * @param pit 
+ * @param yaw 
+ * @param fusion_sta 
+ */
+void ano_send_attitude_data(float rol, float pit, float yaw, u8 fusion_sta) {
+#if TCFG_UART0_ENABLE==0
+    if (ano_uart_dev == NULL) {
+        return; // 如果串口未初始化，则不执行任何操作
+    }
+
+    // 帧总长度 = 4(固定头) + 7(数据) + 2(校验) = 13 字节
+    u8 frame_buffer[13];
+    u8 data_idx = 4; // DATA区域从索引4开始
+
+    // 1. 填充帧头、地址、ID、长度
+    frame_buffer[0] = ANO_FRAME_HEADER;
+    frame_buffer[1] = ANO_TO_COMPUTER_ADDR;
+    frame_buffer[2] = 0x03; // 功能码 ID
+    frame_buffer[3] = 7;    // 数据长度 LEN
+
+    // 2. 转换浮点数为整数并填充 (DATA)，注意小端模式
+    s16 rol_int = (s16)(rol * 100);
+    s16 pit_int = (s16)(pit * 100);
+    s16 yaw_int = (s16)(yaw * 100);
+
+    frame_buffer[data_idx++] = (u8)(rol_int & 0xFF);
+    frame_buffer[data_idx++] = (u8)(rol_int >> 8);
+    frame_buffer[data_idx++] = (u8)(pit_int & 0xFF);
+    frame_buffer[data_idx++] = (u8)(pit_int >> 8);
+    frame_buffer[data_idx++] = (u8)(yaw_int & 0xFF);
+    frame_buffer[data_idx++] = (u8)(yaw_int >> 8);
+    
+    frame_buffer[data_idx++] = fusion_sta;
+
+    // 3. 计算并填充校验和
+    ano_calculate_checksum(frame_buffer);
+
+    // 4. 通过串口发送整个数据帧
+    ano_uart_dev->write(frame_buffer, sizeof(frame_buffer));
+#endif
+}

apps/earphone/xtell_Sensor/ano/ano_protocol.h

@@ -0,0 +1,37 @@
+#ifndef __ANO_PROTOCOL_H__
+#define __ANO_PROTOCOL_H__
+
+#include "system/includes.h"
+
+/**
+ * @brief 初始化用于上位机通信的串口
+ * 
+ * @param baudrate 波特率，例如 115200
+ * @return 0: 成功, -1: 失败
+ */
+int ano_protocol_init(u32 baudrate);
+
+/**
+ * @brief 发送惯性传感器数据 (ID: 0x01)
+ * @param acc_x X轴加速度
+ * @param acc_y Y轴加速度
+ * @param acc_z Z轴加速度
+ * @param gyr_x X轴陀螺仪
+ * @param gyr_y Y轴陀螺仪
+ * @param gyr_z Z轴陀螺仪
+ * @param shock_sta 震动状态
+ */
+void ano_send_inertial_data(s16 acc_x, s16 acc_y, s16 acc_z, 
+                            s16 gyr_x, s16 gyr_y, s16 gyr_z, 
+                            u8 shock_sta);
+
+/**
+ * @brief 发送飞控姿态数据 (ID: 0x03)
+ * @param rol 横滚角 (单位: 度)
+ * @param pit 俯仰角 (单位: 度)
+ * @param yaw 航向角 (单位: 度)
+ * @param fusion_sta 融合状态
+ */
+void ano_send_attitude_data(float rol, float pit, float yaw, u8 fusion_sta);
+
+#endif // __ANO_PROTOCOL_H__

apps/earphone/xtell_Sensor/buffer/circle_buffer.c

@@ -1,117 +1,60 @@
 #include "circle_buffer.h"
 #include <string.h>
-//////////////////////////////////////////////////////////////////////////////////////////////////
-//START -- 宏定义
-#define ENABLE_XLOG 1
-#ifdef xlog
-#undef xlog
-#endif
-#if ENABLE_XLOG
-    #define xlog(format, ...) printf("[%s] " format, __func__, ##__VA_ARGS__)
-#else
-    #define xlog(format, ...) ((void)0)
-#endif
-
-//END -- 宏定义
-//////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////////
-//START -- 变量定义
-
-
-
-//END -- 变量定义
-//////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////////
-//START -- 函数定义
-
-
-
-//END -- 函数定义
-//////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-//////////////////////////////////////////////////////////////////////////////////////////////////
-//实现
 
 // 初始化环形缓冲区
-void circle_buffer_init(circle_buffer_t *cb, u8 *buffer, u16 capacity) {
-    cb->buffer = buffer;
+void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 element_size) {
+    cb->buffer = (u8 *)buffer;
     cb->capacity = capacity;
+    cb->element_size = element_size;
     cb->head = 0;
     cb->tail = 0;
     cb->size = 0;
 }
 
-// 向环形缓冲区写入数据
-u16 circle_buffer_write(circle_buffer_t *cb, const u8 *data, u16 length) {
-    if (length > circle_buffer_get_free_space(cb)) {
-        // 如果剩余空间不足，则只写入能放下的部分
-        length = circle_buffer_get_free_space(cb);
+// 向环形缓冲区写入一个元素
+bool circle_buffer_write(circle_buffer_t *cb, const void *element) {
+    if (circle_buffer_is_full(cb)) {
+        return false; // 缓冲区已满
     }
 
-    if (length == 0) {
-        return 0;
-    }
+    u8 *dest = cb->buffer + (cb->head * cb->element_size);
+    memcpy(dest, element, cb->element_size);
 
-    // 检查是否需要回环
-    if (cb->head + length > cb->capacity) {
-        u16 part1_len = cb->capacity - cb->head;
-        u16 part2_len = length - part1_len;
-        memcpy(cb->buffer + cb->head, data, part1_len);
-        memcpy(cb->buffer, data + part1_len, part2_len);
-        cb->head = part2_len;
-    } else {
-        memcpy(cb->buffer + cb->head, data, length);
-        cb->head += length;
-        if (cb->head == cb->capacity) {
-            cb->head = 0;
-        }
-    }
-
-    cb->size += length;
-    return length;
+    cb->head = (cb->head + 1) % cb->capacity;
+    cb->size++;
+    return true;
 }
 
-// 从环形缓冲区读取数据
-u16 circle_buffer_read(circle_buffer_t *cb, u8 *data, u16 length) {
-    if (length > cb->size) {
-        // 如果要读取的长度超过了已有的数据，则只读取已有的部分
-        length = cb->size;
+// 从环形缓冲区读取一个元素
+bool circle_buffer_read(circle_buffer_t *cb, void *element) {
+    if (circle_buffer_is_empty(cb)) {
+        return false; // 缓冲区为空
     }
 
-    if (length == 0) {
-        return 0;
-    }
+    u8 *src = cb->buffer + (cb->tail * cb->element_size);
+    memcpy(element, src, cb->element_size);
 
-    // 检查是否需要回环
-    if (cb->tail + length > cb->capacity) {
-        u16 part1_len = cb->capacity - cb->tail;
-        u16 part2_len = length - part1_len;
-        memcpy(data, cb->buffer + cb->tail, part1_len);
-        memcpy(data + part1_len, cb->buffer, part2_len);
-        cb->tail = part2_len;
-    } else {
-        memcpy(data, cb->buffer + cb->tail, length);
-        cb->tail += length;
-        if (cb->tail == cb->capacity) {
-            cb->tail = 0;
-        }
-    }
-
-    cb->size -= length;
-    return length;
+    cb->tail = (cb->tail + 1) % cb->capacity;
+    cb->size--;
+    return true;
 }
 
-// 获取已用空间的大小
+// 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;
 }
 
-// 获取剩余空间的大小
+// 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;
+}
+
+// 检查缓冲区是否已满
+bool circle_buffer_is_full(circle_buffer_t *cb) {
+    return cb->size == cb->capacity;
+}
+
+// 检查缓冲区是否为空
+bool circle_buffer_is_empty(circle_buffer_t *cb) {
+    return cb->size == 0;
 }

apps/earphone/xtell_Sensor/buffer/circle_buffer.h

@@ -5,51 +5,66 @@
 
 // 定义环形缓冲区的结构体
 typedef struct {
-    u8 *buffer;     // 缓冲区指针
-    u16 capacity;   // 缓冲区总容量
-    u16 head;       // 头部指针（写入位置）
-    u16 tail;       // 尾部指针（读取位置）
-    u16 size;       // 当前已用大小
+    u8 *buffer;         // 缓冲区指针
+    u16 capacity;       // 缓冲区总容量（以元素为单位）
+    u16 element_size;   // 每个元素的大小（以字节为单位）
+    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）
 } circle_buffer_t;
 
 /**
  * @brief 初始化环形缓冲区
  * @param cb 指向环形缓冲区结构体的指针
  * @param buffer 外部提供的缓冲区内存
- * @param capacity 缓冲区的总容量
+ * @param capacity 缓冲区的总容量（以元素数量为单位）
+ * @param element_size 每个元素的大小（字节）
  */
-void circle_buffer_init(circle_buffer_t *cb, u8 *buffer, u16 capacity);
+void circle_buffer_init(circle_buffer_t *cb, void *buffer, u16 capacity, u16 element_size);
 
 /**
- * @brief 向环形缓冲区写入数据
+ * @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
- * @param data 要写入的数据的指针
- * @param length 要写入的数据的长度
- * @return 实际写入的字节数
+ * @param element 要写入的元素的指针
+ * @return 成功返回true，失败返回false
  */
-u16 circle_buffer_write(circle_buffer_t *cb, const u8 *data, u16 length);
+bool circle_buffer_write(circle_buffer_t *cb, const void *element);
 
 /**
- * @brief 从环形缓冲区读取数据
+ * @brief 从环形缓冲区读取一个元素
  * @param cb 指向环形缓冲区结构体的指针
- * @param data 用于存放读取数据的缓冲区的指针
- * @param length 想要读取的数据的长度
- * @return 实际读取的字节数
+ * @param element 用于存放读取元素的缓冲区的指针
+ * @return 成功返回true，失败返回false
  */
-u16 circle_buffer_read(circle_buffer_t *cb, u8 *data, u16 length);
+bool circle_buffer_read(circle_buffer_t *cb, void *element);
 
 /**
- * @brief 获取环形缓冲区中已用空间的大小
+ * @brief 获取环形缓冲区中已用空间的大小（以元素为单位）
  * @param cb 指向环形缓冲区结构体的指针
- * @return 已用空间的大小
+ * @return 已用空间的大小（元素数量）
  */
 u16 circle_buffer_get_size(circle_buffer_t *cb);
 
 /**
- * @brief 获取环形缓冲区中剩余空间的大小
+ * @brief 获取环形缓冲区中剩余空间的大小（以元素为单位）
  * @param cb 指向环形缓冲区结构体的指针
- * @return 剩余空间的大小
+ * @return 剩余空间的大小（元素数量）
  */
 u16 circle_buffer_get_free_space(circle_buffer_t *cb);
 
+/**
+ * @brief 检查缓冲区是否已满
+ * @param cb 指向环形缓冲区结构体的指针
+ * @return 如果已满返回true，否则返回false
+ */
+bool circle_buffer_is_full(circle_buffer_t *cb);
+
+/**
+ * @brief 检查缓冲区是否为空
+ * @param cb 指向环形缓冲区结构体的指针
+ * @return 如果为空返回true，否则返回false
+ */
+bool circle_buffer_is_empty(circle_buffer_t *cb);
+
+
 #endif // CIRCLE_BUFFER_H

apps/earphone/xtell_Sensor/calculate/skiing_tracker.c

@@ -1,62 +1,102 @@
 /*
-    虽然sensor_processing_task是10ms调用一次
-    但是实际上上一次调用该函数的时间点和下一次调用该函数的时间点，会相差40ms
         
 */
 #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)
 
-// --- ZUPT ---
+#define ENABLE_XLOG 1
+#ifdef xlog
+#undef xlog
+#endif
+#if ENABLE_XLOG
+    #define xlog(format, ...) printf("[XT:%s] " format, __func__, ##__VA_ARGS__)
+#else
+    #define xlog(format, ...) ((void)0)
+#endif
+
+// --- 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 ZUPT_ACC_VARIANCE_THRESHOLD 0.2f
+#define STOP_ACC_VARIANCE_THRESHOLD 0.2f
 // 陀螺仪方差阈值
-#define ZUPT_GYR_VARIANCE_THRESHOLD 5.0f
+#define STOP_GYR_VARIANCE_THRESHOLD 5.0f
+// 静止时候的陀螺仪模长
+#define STOP_GYR_MAG_THRESHOLD  15
+// --- --- --- 
 
 // --- 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_SKIING_ACC_THRESHOLD 0.5f
+#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 SKIING_GYR_VARIANCE_THRESHOLD 15.0f
+#define START_GYR_VARIANCE_THRESHOLD 15.0f
+// --- --- --- 
 
 // --- 滑雪过程 ---
-//加速度 模长，低于此值视为 在做匀速运动
+//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 1000.0f   //未确定
+#define FALLEN_GRY_MAG_THRESHOLD 2000.0f   //未确定
+// --- --- --- 
 
 // --- 原地旋转抖动 --- 
-// 用于原地旋转判断的加速度方差阈值。此值比ZUPT阈值更宽松，
-// 以允许原地旋转时身体的正常晃动，但仍能与真实滑行时的剧烈加速度变化区分开。
-#define ROTATING_ACC_VARIANCE_THRESHOLD 0.8f
-// 旋转/摆动检测阈值：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 120.0f  
+// 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
+// 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  
-// 旋转/摆动检测阈值：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 220.0f   // 150.0f 到 250.0f之间进行调整
+// 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
-#define HPF_ALPHA 0.995  
+// 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  
-
-#ifdef XTELL_TEST
 BLE_KS_send_data_t KS_data;
+static float quaternion_data[4];
+#ifdef XTELL_TEST
+
 debug_t debug1;
 debug_t debug2;
 #endif
@@ -100,40 +140,68 @@ void skiing_tracker_init(skiing_tracker_t *tracker)
 }
 
 /**
- * @brief 将设备坐标系下的加速度转换为世界坐标系
- * @param acc_device 设备坐标系下的加速度 [x, y, z]
- * @param angle 姿态角 [pitch, roll, yaw]，单位: 度
- * @param acc_world 输出：世界坐标系下的加速度 [x, y, z]
+ * @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 transform_acc_to_world_frame(const float *acc_device, const float *angle, float *acc_world)
-{
-    // 驱动输出的角度与标准航空定义相反，需要取反才能用于标准旋转矩阵。
-    float pitch = -angle[0] * DEG_TO_RAD;
-    float roll  = -angle[1] * DEG_TO_RAD;
-
-    // TODO: 当引入三轴磁力计后，这里的 yaw 应由磁力计和陀螺仪融合解算得出，以解决航向漂移问题。
-    // 目前 yaw 暂时不参与计算，因为仅靠加速度计和陀螺仪无法获得准确的绝对航向角。
-    // float yaw = -angle[2] * DEG_TO_RAD;
-
-    float cp = cosf(pitch);
-    float sp = sinf(pitch);
-    float cr = cosf(roll);
-    float sr = sinf(roll);
-
-    float ax = acc_device[0];
-    float ay = acc_device[1];
-    float az = acc_device[2];
-
-    // 使用经过验证的、正确的身体坐标系到世界坐标系的旋转矩阵 (基于 Y-X 旋转顺序)
-    // 这个矩阵将设备测量的加速度(ax, ay, az)正确地转换到世界坐标系(acc_world)。
-    // 注意：这里没有使用yaw，主要关心的是坡面上的运动，绝对航向暂时不影响速度和距离的计算。
-    // TODO
-    acc_world[0] = cp * ax + sp * sr * ay + sp * cr * az;
-    acc_world[1] = 0  * ax + cr * ay      - sr * az;
-    acc_world[2] = -sp * ax + cp * sr * ay + cp * cr * az;
+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;
 }
 
 
+
+/**
+ * @brief 使用四元数直接从设备坐标系的加速度中移除重力分量
+ * @details 这种方法比使用欧拉角更精确、更稳定，且避免了万向节死锁。
+ * @param acc_device        输入：设备坐标系下的原始加速度 [x, y, z], 单位 m/s^2
+ * @param q                 输入：表示姿态的四元数 [w, x, y, z]
+ * @param acc_linear_device 输出：设备坐标系下移除重力后的线性加速度 [x, y, z]
+ */
+void q_remove_gravity_with_quaternion(const float *acc_device, const float *q, float *acc_linear_device)
+{
+    // 从四元数计算重力在设备坐标系下的投影
+    // G_device = R_transpose * G_world
+    // G_world = [0, 0, g]
+    // R_transpose 的第三列即为重力投影方向
+    float gx = 2.0f * (q[1] * q[3] - q[0] * q[2]);
+    float gy = 2.0f * (q[0] * q[1] + q[2] * q[3]);
+    float gz = q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3];
+
+    // 从原始加速度中减去重力分量
+    acc_linear_device[0] = acc_device[0] - gx * G_ACCELERATION;
+    acc_linear_device[1] = acc_device[1] - gy * G_ACCELERATION;
+    acc_linear_device[2] = acc_device[2] - gz * G_ACCELERATION;
+}
+
+/**
+ * @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]
+ * @param acc_linear_world  输出：世界坐标系下的线性加速度 [x, y, z]
+ */
+void q_transform_to_world_with_quaternion(const float *acc_linear_device, const float *q, float *acc_linear_world)
+{
+    // 这是 R_device_to_world * acc_linear_device 的展开形式
+    acc_linear_world[0] = (1.0f - 2.0f*q[2]*q[2] - 2.0f*q[3]*q[3]) * acc_linear_device[0] +
+                          (2.0f*q[1]*q[2] - 2.0f*q[0]*q[3]) * acc_linear_device[1] +
+                          (2.0f*q[1]*q[3] + 2.0f*q[0]*q[2]) * acc_linear_device[2];
+
+    acc_linear_world[1] = (2.0f*q[1]*q[2] + 2.0f*q[0]*q[3]) * acc_linear_device[0] +
+                          (1.0f - 2.0f*q[1]*q[1] - 2.0f*q[3]*q[3]) * acc_linear_device[1] +
+                          (2.0f*q[2]*q[3] - 2.0f*q[0]*q[1]) * acc_linear_device[2];
+
+    acc_linear_world[2] = (2.0f*q[1]*q[3] - 2.0f*q[0]*q[2]) * acc_linear_device[0] +
+                          (2.0f*q[2]*q[3] + 2.0f*q[0]*q[1]) * acc_linear_device[1] +
+                          (1.0f - 2.0f*q[1]*q[1] - 2.0f*q[2]*q[2]) * acc_linear_device[2];
+    // acc_linear_world[2] -= G_ACCELERATION;
+}
+
+
+
 /**
  * @brief 计算缓冲区内三轴数据的方差之和
  * 
@@ -169,7 +237,17 @@ static float calculate_variance(float buffer[VARIANCE_BUFFER_SIZE][3])
     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
@@ -189,8 +267,9 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
     // --- 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]);
-    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]);
+    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;
@@ -198,85 +277,102 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
     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
+
     
-#if 0
-    //正在滑雪
-    if(tracker->state == NO_CONSTANT_SPEED ) {
-        //摔倒了
-        if(gyr_magnitude > FALLEN_GRY_MAG_THRESHOLD){  
-            tracker->state = FALLEN;
-            return;
-        }
-        //可能进入了匀速状态
-        if(gyr_magnitude > SKIING_GYR_MAG_THRESHOLD && acc_magnitude < SKIING_ACC_MAG_THRESHOLD){
-            tracker->state = CONSTANT_SPEED;
-            return;
-        }
-        //急转弯
-        if(gyr_magnitude > WHEEL_GYR_MAG_THRESHOLD && acc_variance > WHEEL_ACC_VARIANCE_THRESHOLD){
-            //TODO：可以考虑清掉速度消除积分带来的漂移
-            tracker->state = WHEEL;
-            return;
-        }
-    }
-
-    // --- 状态切换逻辑 (按优先级) ---
-    // 优先级1：静止
-    if (acc_variance < ZUPT_ACC_VARIANCE_THRESHOLD && gyr_variance < ZUPT_GYR_VARIANCE_THRESHOLD) {
+    // --- 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;
-        // 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));
-        return;
-    }
-
-   
-
-    // 优先级2：原地旋转 - 特殊的、非滑雪的运动状态
-    // 条件：角速度很大，同时线性加速度的晃动在一个“中等”范围内。
-    if (tracker->state == STATIC && gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
-        tracker->state = ROTATING;
-        return;
-    }
-
-    // 优先级3：启动滑雪 - “油门”
-    // 条件：有足够大的线性加速度，同时陀螺仪的抖动在一个“合理”（而非“完全静止”）的范围内。
-    if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance < SKIING_GYR_VARIANCE_THRESHOLD) {
-        tracker->state = NO_CONSTANT_SPEED;
-        return;
-    }
-
-    // 如果不满足任何启动或停止条件，则保持当前状态（滑雪中）
-    // 如果当前是静止或旋转，但没有满足启动条件，则状态会保持，直到满足ZUPT或旋转条件。
-#else
-
-    // 无论当前是什么状态，静止总是最高优先级
-    if (acc_variance < ZUPT_ACC_VARIANCE_THRESHOLD && gyr_variance < ZUPT_GYR_VARIANCE_THRESHOLD) {
-        tracker->state = STATIC;
-        // 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));
         return;
     }
 
+    // --- 地面状态切换逻辑 ---
     switch (tracker->state) {
+        case LANDING: 
+            tracker->state = STATIC;
+            break;
         case STATIC:
-            //不break，会往下执行，判断是否进入非匀速状态
-        case ROTATING: // 从静止或原地旋转可以启动
-            if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance < SKIING_GYR_VARIANCE_THRESHOLD) {
+            // 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;
-            } else if (gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
-                tracker->state = ROTATING;
+            }
+            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
-            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) {
+            //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
@@ -284,7 +380,7 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
             break;
 
         case CONSTANT_SPEED:  //匀速状态
-            if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD) { 
+            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
@@ -302,7 +398,7 @@ static void update_state_machine(skiing_tracker_t *tracker, const float *acc_dev
             // TODO：回到 STATIC
             break;
     }
-#endif
+
 
 }
 
@@ -343,78 +439,152 @@ void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_d
     // --- 更新状态机 ---
     update_state_machine(tracker, acc_device_ms2, gyr_dps);
 
-    // 坐标转换 & 移除重力
-    transform_acc_to_world_frame(acc_device_ms2, angle, tracker->acc_world);
-    tracker->acc_world[2] -= G_ACCELERATION;
+    // --- 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);
 
-    // 对世界坐标系下的加速度进行高通滤波，消除直流偏置和重力残差
-    for (int i = 0; i < 3; i++) {
-        tracker->acc_world_filtered[i] = HPF_ALPHA * (tracker->acc_world_filtered[i] + tracker->acc_world[i] - tracker->acc_world_unfiltered_prev[i]);
-        tracker->acc_world_unfiltered_prev[i] = tracker->acc_world[i];
-    }
-    // 应用加速度死区，忽略微小抖动和噪声
-    float acc_horizontal_mag = sqrtf(tracker->acc_world_filtered[0] * tracker->acc_world_filtered[0] +
-                                        tracker->acc_world_filtered[1] * tracker->acc_world_filtered[1]);
-    // --- 根据状态进行计算 ---
-    if (tracker->state == NO_CONSTANT_SPEED) {
-        if (acc_horizontal_mag > ACC_DEAD_ZONE_THRESHOLD) {
-            // 只有当水平加速度足够大时，才进行速度积分
-            tracker->velocity[0] += tracker->acc_world_filtered[0] * dt;
-            tracker->velocity[1] += tracker->acc_world_filtered[1] * dt;
-            // 垂直方向的速度暂时不积分，极易受姿态误差影响而漂移
-            // tracker->velocity[2] += tracker->acc_world_filtered[2] * dt;
-        }
-        #ifdef XTELL_TEST
-        debug2.acc_magnitude = acc_horizontal_mag;
-        #endif
-        // 如果加速度小于阈值，则不更新速度，相当于速度保持不变（或受下一步的阻尼影响而衰减）
-         
-        // --- 更新速率和距离 ---
-        // 只基于水平速度计算速率和距离
-        tracker->speed = sqrtf(tracker->velocity[0] * tracker->velocity[0] +
-                            tracker->velocity[1] * tracker->velocity[1]);
-        tracker->distance += tracker->speed * dt;
-        
+            // 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));
 
-    }else if(tracker->state == CONSTANT_SPEED){ //匀速
-        #ifdef XTELL_TEST
-        debug2.acc_magnitude = acc_horizontal_mag;
-        #endif
-        //保持上次的速度不变。只更新距离
-        tracker->distance += tracker->speed * dt;
-        
-    }else{
-        // 在静止或旋转状态下，速度已经在状态机内部被清零
-        // 额外增加速度衰减，模拟摩擦力，进一步抑制漂移
-        tracker->velocity[0] *= SPEED_ATTENUATION;
-        tracker->velocity[1] *= SPEED_ATTENUATION;
-        tracker->velocity[2] = 0; // 垂直速度强制归零
+            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 0
+    float linear_acc_device[3];
+    float linear_acc_world[3];
+    float tmp_world_acc[3];
+    // 在设备坐标系下，移除重力，得到线性加速度
+    q_remove_gravity_with_quaternion(acc_device_ms2, quaternion_data, linear_acc_device);
+
+    // 将设备坐标系下的线性加速度，旋转到世界坐标系
+    q_transform_to_world_with_quaternion(linear_acc_device, quaternion_data, tmp_world_acc);
+
+    
+    float all_world_mag = sqrtf(tmp_world_acc[0] * tmp_world_acc[0] +
+                                        tmp_world_acc[1] * tmp_world_acc[1] + 
+                                        tmp_world_acc[2] * tmp_world_acc[2]);
+    
+    static int count = 0;
+    if(count > 10){
+        xlog("===original(g): x %.2f, y %.2f, z %.2f===\n",acc_g[0],acc_g[1],acc_g[2]);
+        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("===speed(cm/s): %d\n",(int)(tracker->speed*100) );
+        count = 0;
+        
+    }
+    count++;
+    #endif
+
+
 }
 
 
 
- /**
-  * @brief 传感器数据采集与处理任务，外部每10ms调用一次，如果需要更新时间间隔，也需要同步更新宏“ DELTA_TIME ”
-  * 
-  * @param acc_data_buf 三轴加速度原始数据
-  * @param gyr_data_buf 三轴陀螺仪原始数据
-  * @return BLE_send_data_t 
-  */
-BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short * gyr_data_buf) {
+/**
+ * @brief 滑雪数据计算
+ * 
+ * @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 速度cm/s
+ */
+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 int calibration_done = 0;
+    static float acc_data_g[3];
+    static float gyr_data_dps[3];
 
-    static signed short combined_raw_data[6];
-    static float final_angle_data[3];   // 计算得到的欧若拉角
-    static float calibrated_acc_g[3];   // 转换后的加速度计数据
-    static float calibrated_gyr_dps[3]; // 转换后的陀螺仪数据
+    if(quaternion != NULL){
+        memcpy(quaternion_data, quaternion,  4 * sizeof(float));
+    }
 
-    const float delta_time = DELTA_TIME + 0.03f;
-    BLE_send_data_t BLE_send_data;
+    // const float delta_time = DELTA_TIME+0.01f;
+    // const float delta_time = DELTA_TIME + 0.005f;
+    const float delta_time = DELTA_TIME;
     
     if (!initialized) {
         skiing_tracker_init(&my_skiing_tracker);
@@ -422,80 +592,44 @@ BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short
         printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
     }
 
-    memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
-    memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
+    
+    #if ACC_RANGE==2
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 16384.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 16384.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 16384.0f;
+    #endif
 
-    unsigned char status;
-    if (!calibration_done) {  //第1次启动，开启零漂检测
-        status = SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
-        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, final_angle_data, 0);
-    }
+    #if ACC_RANGE==4
+    // 加速度 LSB to g
+    acc_data_g[0] = (float)acc_data_buf[0] / 8192.0f;
+    acc_data_g[1] = (float)acc_data_buf[1] / 8192.0f;
+    acc_data_g[2] = (float)acc_data_buf[2] / 8192.0f;
+    #endif
 
-    if (status == 1) {
-        // 加速度 LSB to g
-        calibrated_acc_g[0] = (float)combined_raw_data[0] / 8192.0f;
-        calibrated_acc_g[1] = (float)combined_raw_data[1] / 8192.0f;
-        calibrated_acc_g[2] = (float)combined_raw_data[2] / 8192.0f;
+    #if ACC_RANGE==8
+    //±8g	4096
+    acc_data_g[0] = (float)acc_data_buf[0] / 4096.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 4096.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 4096.0f; //az
+	#endif
 
-        // 陀螺仪 LSB to dps (度/秒)
-        // ±2000dps量程下，转换系数约为 0.061
-        calibrated_gyr_dps[0] = (float)combined_raw_data[3] * 0.061f;
-        calibrated_gyr_dps[1] = (float)combined_raw_data[4] * 0.061f;
-        calibrated_gyr_dps[2] = (float)combined_raw_data[5] * 0.061f;
+    #if ACC_RANGE==16
+    //±16g	2048
+    acc_data_g[0] = (float)acc_data_buf[0] / 2048.0f; //ax
+    acc_data_g[1] = (float)acc_data_buf[1] / 2048.0f; //ay
+    acc_data_g[2] = (float)acc_data_buf[2] / 2048.0f; //az
+	#endif
 
-        skiing_tracker_update(&my_skiing_tracker, calibrated_acc_g, calibrated_gyr_dps, final_angle_data, delta_time);
+    // 陀螺仪 LSB to dps (度/秒)
+    // ±2000dps量程下，转换系数约为 0.061
+    gyr_data_dps[0] = (float)gyr_data_buf[0] * 0.061f;
+    gyr_data_dps[1] = (float)gyr_data_buf[1] * 0.061f;
+    gyr_data_dps[2] = (float)gyr_data_buf[2] * 0.061f;
+
+    skiing_tracker_update(&my_skiing_tracker, acc_data_g, gyr_data_dps, angle_data, delta_time);
+
+    
+    return (uint16_t)(my_skiing_tracker.speed * 100);
+}
 
-        // static int count = 0;
-        // if(count >= 10){
-        //     printf("State: %d, Speed: %.2f m/s, Distance: %.2f m\n",
-        //     my_skiing_tracker.state,
-        //     my_skiing_tracker.speed,
-        //     my_skiing_tracker.distance);
-        //     printf("calibrated_acc_g: %.2f, %.2f, %.2f\n",
-        //     calibrated_acc_g[0],
-        //     calibrated_acc_g[1],
-        //     calibrated_acc_g[2]);
-        //     count = 0;
-        // } else {
-        //     count++;
-        // }
-  
-        BLE_send_data.sensor_state = status;
-        BLE_send_data.skiing_state = my_skiing_tracker.state;
-        for (int i = 0; i < 3; i++) {
-            #ifndef XTELL_TEST
-            BLE_send_data.acc_original[i] = (int)acc_data_buf[i];
-            BLE_send_data.gyr_original[i] = (int)gyr_data_buf[i];
-            #endif
-            #if KS_BLE
-            KS_data.acc_KS[i] = (int)(calibrated_acc_g[i] * G_ACCELERATION * 100); //cm/s^s
-            KS_data.gyr_KS_dps[i] = (int)calibrated_gyr_dps[i];
-            KS_data.angle_KS[i] = (int)final_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");
-    } else if (status == 0) {
-        memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
-        BLE_send_data.sensor_state = status;
-        #if KS_BLE
-        memset(&KS_data, 0, sizeof(BLE_send_data_t));
-        #endif
-        // printf("Sensor is calibrating...\n");
-    } else {
-        memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
-        BLE_send_data.sensor_state = status;
-        #if KS_BLE
-        memset(&KS_data, 0, sizeof(BLE_send_data_t));
-        #endif
-        // printf("Angle calculation error or calibration not finished.\n");
-    }
-    return BLE_send_data;
-}

apps/earphone/xtell_Sensor/calculate/skiing_tracker.h

@@ -2,16 +2,23 @@
 #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
-    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速
-    CONSTANT_SPEED,           // 正在滑雪，匀速
-    ROTATING,                 // 正在原地旋转
-    WHEEL,                    // 转弯
-    FALLEN,                   // 已摔倒
-    STOP_DETECTION,           // 停止检测
-    UNKNOWN                   // 未知状态
+    STATIC,                   // 静止或动态稳定：0
+    NO_CONSTANT_SPEED,        // 正在滑雪，非匀速：1
+    CONSTANT_SPEED,           // 正在滑雪，匀速：2
+    WOBBLE,                 // 正在原地旋转：3
+    WHEEL,                    // 转弯：4
+    FALLEN,                   // 已摔倒：5
+    TAKING_OFF,               // 起跳冲击阶段：6
+    IN_AIR,                   // 空中失重阶段：7
+    LANDING,                  // 落地冲击阶段：8
+    STOP_DETECTION,           // 停止检测：9
+    UNKNOWN                   // 未知状态：10
 } skiing_state_t;
 
 #define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性
@@ -27,7 +34,13 @@ 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
+    float initial_velocity_on_takeoff[3];  // 起跳瞬间的速度向量
+    int airborne_entry_counter;      // 进入空中状态的确认计数器
+    int grounded_entry_counter;      // 落地确认计数器
 
     // --- 内部计算使用的私有成员 ---
     // 用于动态零速更新和旋转检测的缓冲区
@@ -39,19 +52,11 @@ typedef struct {
     // 用于高通滤波器（巴特沃斯一阶滤波器）的私有成员，以消除加速度的直流偏置
     float acc_world_filtered[3];  //过滤过的
     float acc_world_unfiltered_prev[3];  //上一次没过滤的
+
+    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
-    #ifndef XTELL_TEST
-    int acc_original[3];  //直接读取传感器得到的原始三轴加速度
-    int gyr_original[3];  //直接读取传感器得到的原始三轴陀螺仪
-    #endif
-}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）
@@ -74,12 +79,5 @@ typedef struct{
  */
 void skiing_tracker_init(skiing_tracker_t *tracker);
 
- /**
-  * @brief 传感器数据采集与处理任务，外部每10ms调用一次，如果需要更新时间间隔，也需要同步更新宏“ DELTA_TIME ”
-  * 
-  * @param acc_data_buf 三轴加速度原始数据
-  * @param gyr_data_buf 三轴陀螺仪原始数据
-  * @return BLE_send_data_t 
-  */
-BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short * gyr_data_buf) ;
+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

@@ -15,12 +15,15 @@
 #include "bt_profile_cfg.h"
 #include "dev_manager/dev_manager.h"
 #include "update_loader_download.h"
-#include "LIS2DH12.h"
-#include "circle_buffer.h"
-#include "circle_buffer.h"
+#include "./sensor/SC7U22.h"
+#include "./buffer/circle_buffer.h"
 #include "btstack/avctp_user.h"
 #include "calculate/skiing_tracker.h"
 #include "xtell.h"
+#include "./ano/ano_protocol.h"
+#include "./sensor/MMC56.h"
+#include "./sensor/BMP280.h"
+#include "./sensor/AK8963.h"
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 //宏定义
 #define ENABLE_XLOG 1
@@ -32,6 +35,9 @@
 #else
     #define xlog(format, ...) ((void)0)
 #endif
+
+#define SENSOR_DATA_BUFFER_SIZE 1000 // 定义缓冲区可以存储XXX个sensor_data_t元素
+
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -39,6 +45,7 @@
 //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);
 //END -- 函数定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
@@ -46,266 +53,281 @@ extern void create_process(u16* pid, const char* name, void *priv, void (*func)(
 //////////////////////////////////////////////////////////////////////////////////////////////////
 //START -- 变量定义
 
-// --- 任务ID ---
-static u16 xtell_i2c_test_id;
-static u16 collect_data_id;
-static u16 send_data_id;
+
+typedef struct {
+    // -- 六轴 -- 
+    signed short SC7U22_data[6];
+    // -- 磁力计 --
+    uint8_t mmc5603nj_buffer[9];
+    // -- 速度 --
+    uint16_t speed_cms;
+    // -- 气压计 --
+    int adc_P; 
+    int adc_T; 
+} BLE_send_data_t;
+
+static int count = 0;
 
 // --- 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 BLE_send_buff; // 环形缓冲区管理结构体
+BLE_send_data_t BLE_send_data[SENSOR_DATA_BUFFER_SIZE];
 
-BLE_send_data_t BLE_send_data;
-//--- test ---
-// 全局变量
-u16 gsensor_id=0;
-u16 test_id=0;
 //END -- 变量定义
 //////////////////////////////////////////////////////////////////////////////////////////////////
 
+/**
+ * @brief 六轴静态校准
+ * 
+ */
+void SC7U22_static_calibration(void){
+    signed short acc_data_buf[3];
+    signed short gyr_data_buf[3];
+    float angle[3];
+    float quaternion_output[3];
 
-// /**
-//  * @brief  向匿名上位机发送数据帧
-//  * @param  function_id   功能码 (例如 0x01, 0x03)
-//  * @param  data          指向 int16_t 数据数组的指针 (例如加速度、欧拉角)
-//  * @param  data_len      int16_t 数据的个数 (例如发送6轴数据时为6，发送3个欧拉角时为3)
-//  * @param  status_byte   附加的状态字节 (例如 SHOCK_STA 或 FUSION_STA)
-//  */
-// void send_data_anotc(uint8_t function_id, int16_t* data, uint8_t data_len, uint8_t status_byte) {
-//     // 定义一个足够大的缓冲区来构建数据帧
-//     // 最大长度(ID 0x01): 1(HEAD)+1(D_ADDR)+1(ID)+1(LEN)+13(DATA)+1(SC)+1(AC) = 19字节
-//     uint8_t buffer[32]; 
-    
-//     uint8_t data_payload_len = data_len * sizeof(int16_t) + sizeof(uint8_t);
-    
-//     // 1. 填充帧头和地址
-//     buffer[0] = 0xAA; // 帧头 HEAD
-//     buffer[1] = 0xFF; // 目标地址 D_ADDR
-
-//     // 2. 填充功能码和数据长度
-//     buffer[2] = function_id;
-//     buffer[3] = data_payload_len;
-
-//     // 3. 填充数据内容 (DATA)
-//     // 首先使用 memcpy 拷贝主要的 int16_t 数组数据
-//     // &buffer[4] 是数据区的起始地址
-//     memcpy(&buffer[4], (uint8_t*)data, data_len * sizeof(int16_t));
-//     // 然后在数据区末尾填充状态字节
-//     buffer[4 + data_len * sizeof(int16_t)] = status_byte;
-
-//     // 4. 计算校验和 (SC 和 AC)
-//     uint8_t sum_check = 0;
-//     uint8_t add_check = 0;
-    
-//     // SC: 和校验 (从帧头到数据区最后一个字节)
-//     for (int i = 0; i < 4 + data_payload_len; ++i) {
-//         sum_check += buffer[i];
-//     }
-    
-//     // 将SC填充到缓冲区
-//     buffer[4 + data_payload_len] = sum_check;
-    
-//     // AC: 附加校验 (从帧头到SC)
-//     for (int i = 0; i < 4 + data_payload_len + 1; ++i) {
-//         add_check += buffer[i];
-//     }
-
-//     // 将AC填充到缓冲区
-//     buffer[4 + data_payload_len + 1] = add_check;
-
-//     // 5. 发送整个数据帧
-//     uint16_t frame_length = 4 + data_payload_len + 2;
-//     // Serial_Send_Buffer(buffer, frame_length);
-//     for (int i = 0; i < frame_length; ++i) {
-//         // 使用 %c 格式化字符来发送单个字节的原始值
-//         printf("%c", buffer[i]);
-//     }
-//     printf("\n");
-// }
-
-void ble_send_data(signed short *acc_gyro_input, float *Angle_output){
-    char buffer[50];   //一次最多发送50字节
-    u8 len = 0;
-    //AA FF 01 六轴数据 EE
-    //TO DO
-    send_data_to_ble_client(&buffer,len);
-
-
-    //AA FF 02 欧若拉角数据 EE
-    // TO DO
-    send_data_to_ble_client(&buffer,len);
-}
-
-
-// 从环形缓冲区读取数据并发送
-void send_sensor_data_task(void) {
-    // printf("xtell_ble_send\n");
-}
-
-#ifdef XTELL_TEST
-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");
-
+    static signed short combined_raw_data[6];
+    static int calibration_done = 0;
+    char status = 0;
+    static first_set_flag = 0;
+    if(first_set_flag == 0){
+        first_set_flag = 1;
+        set_SC7U22_Error_Flag(0);
+    }
     SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
+    memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
+    memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
+    status = Q_SL_SC7U22_Angle_Output(1, combined_raw_data, angle,NULL, 0, quaternion_output);
 
-    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){ 
+    if(status == 1){ //校准完成
+        extern u16 SC7U22_calibration_id;
+        extern u8 SC7U22_init;
+        first_set_flag = 0;
+        SC7U22_init = 0x11;
+        close_process(&SC7U22_calibration_id, "SC7U22_calibration");
+        u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00};
+        send2_1[4] = SC7U22_init;
+        send_data_to_ble_client(&send2_1,5);
+    }
+    if(count > 100){
         count = 0;
-        
-        char* 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");
+        char log_buffer[100]; 
+        // snprintf( log_buffer, sizeof(log_buffer),"status:%d\n",status);  
+        // send_data_to_ble_client(&log_buffer,strlen(log_buffer));
+        xlog("status:%d\n", status);
+            xlog("RawData:AX=%d,AY=%d,AZ=%d,GX=%d,GY=%d,GZ=%d\r\n",combined_raw_data[0],combined_raw_data[1],combined_raw_data[2],combined_raw_data[3],combined_raw_data[4],combined_raw_data[5]);
     }
     count++;
-
-    memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
-    memset(&data, 0, 50);
-    // xlog("end============\n");
-
 }
-#else
 
-void BLE_send_data(){
-    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};
+/**
+ * @brief 开始采集传感器数据和计算速度
+ * 
+ */
+void start_collect_fuc(void){
+    // xlog("=======sensor_read_data START\n");
+    
+    static signed short combined_raw_data[6];
+    static int initialized = 0;
+    static int calibration_done = 0;
+    char status = 0;
+    BLE_send_data_t BLE_send_data_tmp;
+    uint8_t mmc5603nj_buffer[9];
+    signed short acc_data_buf[3];
+    signed short gyr_data_buf[3];
+    float angle[3];
+    float quaternion_output[3];
 
+    // -- 读数据 --
     SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
+    mmc5603nj_read_origin_data(mmc5603nj_buffer);
+    bmp280_read_originanl_data(&BLE_send_data_tmp.adc_P, &BLE_send_data_tmp.adc_T);
 
-    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));
+    memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
+    memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
 
-    static int count = 0;
-    if(count >=10){ 
-        count = 0;
-        send_data_to_ble_client(&data,sizeof(BLE_send_data_t)+4);
+    // -- 四元数 --
+    status = Q_SL_SC7U22_Angle_Output(0, combined_raw_data, angle,NULL, 0, quaternion_output);
+
+    // -- 速度计算 --
+    memcpy(acc_data_buf, &combined_raw_data[0], 3 * sizeof(signed short));
+    memcpy(gyr_data_buf, &combined_raw_data[3], 3 * sizeof(signed short));
+    uint16_t speed = sensor_processing_task(acc_data_buf,gyr_data_buf,angle, quaternion_output);
+    
+    // -- 数据包装进结构体 --
+    memcpy(&BLE_send_data_tmp.SC7U22_data[0], acc_data_buf, 3 * sizeof(signed short));
+    memcpy(&BLE_send_data_tmp.SC7U22_data[3], gyr_data_buf, 3 * sizeof(signed short));
+    memcpy(BLE_send_data_tmp.mmc5603nj_buffer, mmc5603nj_buffer, 9);
+    BLE_send_data_tmp.speed_cms = speed;
+
+    // -- 放进缓冲区 --
+    if(circle_buffer_is_full(&BLE_send_buff) == 0){
+        circle_buffer_write(&BLE_send_buff, &BLE_send_data_tmp);
     }
-    count++;
-
-    memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
-    memset(&data, 0, 50);
-}
-#endif
-
-void gsensor_test(){
-
-    sys_timer_del(gsensor_id);
+    
+    // xlog("=======sensor_read_data END\n");
 
 }
 
+/**
+ * @brief ble数据发送函数
+ * 
+ */
+void BLE_send_fuc(void){
+    BLE_send_data_t data_to_send;
 
+    if (circle_buffer_is_empty(&BLE_send_buff) == 0) {
+        circle_buffer_read(&BLE_send_buff, &data_to_send);
+    } else {
+        // 缓冲区为空，直接返回
+        return;
+    }
+
+    // ---  封装并发送六轴传感器数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(12) = 16字节
+        const uint8_t IMU_PACKET_LEN = 16;
+        const uint8_t IMU_PAYLOAD_LEN = 13; // 类型(1) + 数据(12)
+        const uint8_t IMU_TYPE = 0x01;
+        
+        uint8_t imu_packet[IMU_PACKET_LEN];
+
+        // 填充包头
+        imu_packet[0] = 0xBB;
+        imu_packet[1] = 0xBE;
+        imu_packet[2] = IMU_PAYLOAD_LEN;
+        imu_packet[3] = IMU_TYPE;
+        // 拷贝六轴数据
+        // memcpy(&imu_packet[4], data_to_send.SC7U22_data, sizeof(data_to_send.SC7U22_data));
+         for (int i = 0; i < 6; i++) {
+            // SC7U22_data[i] 是一个 signed short (2字节)
+            // 将其低字节放在前面
+            imu_packet[4 + i * 2]     = (uint8_t)(data_to_send.SC7U22_data[i] & 0xFF);
+            // 将其高字节放在后面
+            imu_packet[4 + i * 2 + 1] = (uint8_t)((data_to_send.SC7U22_data[i] >> 8) & 0xFF);
+        }
+        // xlog("imu %d\n",data_to_send.SC7U22_data[0]);
+        // xlog("imu_packet: 0x%x 0x%x 0x%x\n",imu_packet[4],imu_packet[5],imu_packet[6]);
+        send_data_to_ble_client(&imu_packet, IMU_PACKET_LEN);
+    }
+    
+    // --- 封装并发送磁力计数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(9) = 13字节
+        const uint8_t MAG_PACKET_LEN = 13;
+        const uint8_t MAG_PAYLOAD_LEN = 10; // 类型(1) + 数据(9)
+        const uint8_t MAG_TYPE = 0x02;
+
+        uint8_t mag_packet[MAG_PACKET_LEN];
+
+        // 填充包头
+        mag_packet[0] = 0xBB;
+        mag_packet[1] = 0xBE;
+        mag_packet[2] = MAG_PAYLOAD_LEN;
+        mag_packet[3] = MAG_TYPE;
+        // 拷贝磁力计数据
+        // memcpy(&mag_packet[4], data_to_send.mmc5603nj_buffer, sizeof(data_to_send.mmc5603nj_buffer));
+        for (int i = 0; i < 9; i++) {
+            mag_packet[4 + i] = data_to_send.mmc5603nj_buffer[i];
+        }
+        // xlog("mag: 0x%x 0x%x 0x%x\n",mag_packet[4],mag_packet[5],mag_packet[6]);
+
+        send_data_to_ble_client(&mag_packet, MAG_PACKET_LEN);
+    }
+
+    // --- 封装并发送压力机计数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(8) = 12字节
+        const uint8_t PT_PACKET_LEN = 12;
+        const uint8_t PT_PAYLOAD_LEN = 9; // 类型(1) + 数据(8)
+        const uint8_t PT_TYPE = 0x03;
+
+        uint8_t pt_packet[PT_PACKET_LEN];
+
+        // 填充包头
+        pt_packet[0] = 0xBB;
+        pt_packet[1] = 0xBE;
+        pt_packet[2] = PT_PAYLOAD_LEN;
+        pt_packet[3] = PT_TYPE;
+
+        // 打包压力数据 data_to_send.adc_P (占 pt_packet[4] 到 pt_packet[7])
+        pt_packet[4] = (uint8_t)(data_to_send.adc_P & 0xFF);         // 最低字节 (LSB)
+        pt_packet[5] = (uint8_t)((data_to_send.adc_P >> 8) & 0xFF);  
+        pt_packet[6] = (uint8_t)((data_to_send.adc_P >> 16) & 0xFF);
+        pt_packet[7] = (uint8_t)((data_to_send.adc_P >> 24) & 0xFF); // 最高字节 (MSB)
+
+        // 打包温度数据 data_to_send.adc_T (占 pt_packet[8] 到 pt_packet[11])
+        pt_packet[8] = (uint8_t)(data_to_send.adc_T & 0xFF);         // 最低字节 (LSB)
+        pt_packet[9] = (uint8_t)((data_to_send.adc_T >> 8) & 0xFF);
+        pt_packet[10] = (uint8_t)((data_to_send.adc_T >> 16) & 0xFF);
+        pt_packet[11] = (uint8_t)((data_to_send.adc_T >> 24) & 0xFF); // 最高字节 (MSB)
+
+        send_data_to_ble_client(&pt_packet, PT_PACKET_LEN);
+    }
+
+
+    // --- 封装并发送速度数据 ---
+    {
+        // 协议定义: 包头(2) + 长度(1) + 类型(1) + 数据(2) = 6字节
+        const uint8_t SPEED_PACKET_LEN = 6;
+        const uint8_t SPEED_PAYLOAD_LEN = 3; // 类型(1) + 数据(2)
+        const uint8_t SPEED_TYPE = 0x04;
+
+        uint8_t speed_packet[SPEED_PACKET_LEN];
+        
+        // 填充包头
+        speed_packet[0] = 0xBB;
+        speed_packet[1] = 0xBE;
+        // 填充长度
+        speed_packet[2] = SPEED_PAYLOAD_LEN;
+        // 填充类型
+        speed_packet[3] = SPEED_TYPE;
+        
+        // 小端模式
+        speed_packet[4] = (uint8_t)(data_to_send.speed_cms & 0xFF);         // 低字节
+        speed_packet[5] = (uint8_t)((data_to_send.speed_cms >> 8) & 0xFF);  // 高字节
+
+        send_data_to_ble_client(&speed_packet, SPEED_PACKET_LEN);
+    }
+}
+
+static u8 bmp280_test_id = 0;
 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();
-
-    soft_iic_init(0);
-    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);
-
-    SL_SC7U22_Config();
-    // extern u8 LIS2DH12_Config(void);
-    // LIS2DH12_Config();
+    #if TCFG_GSENOR_USER_IIC_TYPE
+    int ret = hw_iic_init(0);
+    xlog("init iic result:%d\n", ret);  //返回0成功
+    #else
+    int ret = soft_iic_init(0);
+    int num_chars_written = snprintf(log_buffer_1, sizeof(log_buffer_1),"init iic: %d\n", ret);  
+    
+    #endif
+    
+    // MPU9250_Mag_Init();
+    //iic总线设备扫描
+    // extern void i2c_scanner_probe(void);
+    // i2c_scanner_probe();
 
     xlog("xtell_task_create\n");
-    // 初始化环形缓冲区
-    circle_buffer_init(&sensor_cb, sensor_data_buffer, SENSOR_DATA_BUFFER_SIZE);
 
+    circle_buffer_init(&BLE_send_buff, BLE_send_data, 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(&gsensor_id, "gsensor",NULL, gsensor_test, 1000);
-    create_process(&test_id, "test",NULL, test, (int)(DELTA_TIME*1000));
-    // while(1){
-    //     test();
-    //     os_time_dly((int)(DELTA_TIME*1000));
-    // }
-    
+    bmp280_init();
+    extern void bmp280_test(void);
+    xlog("barometer start measeure\n");
+    // create_process(&bmp280_test_id,"bmp280_test",NULL, bmp280_test, 100);
+    float Temp = 0;
+    float Press = 0;
+    xlog("test_func\n");
+    bmp280_read_data(&Temp, &Press);
+    xlog("Temp:%.2f, Press:%.2f\n",Temp,Press);
 }
+
+
+
+//////////////////////////////////////////////////////////////////////////////
+//test
+//
+
+void bmp280_test(void){
+    
+}

apps/earphone/xtell_Sensor/sensor/AK8963.c

@@ -0,0 +1,133 @@
+
+#include "AK8963.h"
+#include "math.h"
+#include "os/os_api.h"
+#include "../xtell.h"
+#include "printf.h"
+
+// 用于存放从Fuse ROM读取的磁力计灵敏度校准值
+static float mag_asa_x = 1.0f;
+static float mag_asa_y = 1.0f;
+static float mag_asa_z = 1.0f;
+
+// 磁力计在16-bit分辨率下的转换因子 (单位: uT/LSB)
+#define MAG_RAW_TO_UT_FACTOR (4912.0f / 32760.0f)
+
+/**
+ * @brief 初始化MPU9250的磁力计AK8963
+ * @return 0: 成功, 1: MPU9250连接失败, 2: AK8963连接失败
+ */
+u8 MPU9250_Mag_Init(void) {
+
+    u8 temp_data[3];
+
+    // --- 检查 MPU9250 连接并复位 ---
+    _gravity_sensor_get_ndata(MPU9250_ADDR_R, MPU9250_WHO_AM_I, temp_data, 1);
+    if (temp_data[0] != 0x71 && temp_data[0] != 0x73) {
+        printf("MPU9250 comm failed, read ID: 0x%X\n", temp_data[0]);
+        return 1;
+    }
+    printf("MPU9250 get id:0x%X\n", temp_data[0]);
+
+    gravity_sensor_command(MPU9250_ADDR_W, MPU9250_PWR_MGMT_1, 0x80); // 软复位
+    os_time_dly(10); // 等待复位完成
+
+    gravity_sensor_command(MPU9250_ADDR_W, MPU9250_PWR_MGMT_1, 0x01); // 退出睡眠，选择时钟源
+    os_time_dly(2);
+
+    // --- 强制复位 I2C Master 模块并开启旁路 ---
+    
+    gravity_sensor_command(MPU9250_ADDR_W, MPU9250_USER_CTRL, 0x20); 
+    os_time_dly(1);
+    gravity_sensor_command(MPU9250_ADDR_W, MPU9250_USER_CTRL, 0x00);
+    os_time_dly(1);
+    
+    gravity_sensor_command(MPU9250_ADDR_W, MPU9250_INT_PIN_CFG, 0x02);
+    os_time_dly(2);
+
+    // --- 再次验证 AK8963 连接 ---
+    _gravity_sensor_get_ndata(AK8963_ADDR_R, AK8963_WIA, temp_data, 1);
+    if (temp_data[0] != 0x48) {
+        printf("AK8963 comm failed after final attempt, read ID: 0x%X\n", temp_data[0]);
+        return 2;
+    }
+    printf("AK8963 get id: 0x%X\n", temp_data[0]);
+
+    // ------------------ 配置 AK8963 ------------------
+    // Power-down模式
+    gravity_sensor_command(AK8963_ADDR_W, AK8963_CNTL1, 0x00);
+    os_time_dly(1);
+
+    //  Fuse ROM access模式
+    gravity_sensor_command(AK8963_ADDR_W, AK8963_CNTL1, 0x0F);
+    os_time_dly(1);
+    _gravity_sensor_get_ndata(AK8963_ADDR_R, AK8963_ASAX, temp_data, 3);
+    
+    // 计算校准系数
+    mag_asa_x = (float)(temp_data[0] - 128) / 256.0f + 1.0f;
+    mag_asa_y = (float)(temp_data[1] - 128) / 256.0f + 1.0f;
+    mag_asa_z = (float)(temp_data[2] - 128) / 256.0f + 1.0f;
+
+    //  再次进入Power-down模式
+    gravity_sensor_command(AK8963_ADDR_W, AK8963_CNTL1, 0x00);
+    os_time_dly(1);
+
+    //  设置工作模式：16-bit分辨率，100Hz连续测量模式 (0x16)
+    gravity_sensor_command(AK8963_ADDR_W, AK8963_CNTL1, 0x16);
+    os_time_dly(1);
+
+    printf("AK8963 configured successfully.\n");
+    return 0; // 初始化成功
+}
+
+
+/**
+ * @brief 读取磁力计的三轴原始数据
+ * @param mx, my, mz - 用于存放X, Y, Z轴数据的指针 (int16_t类型)
+ * @return 0: 成功, 1: 数据未就绪, 2: 数据溢出
+ */
+u8 MPU9250_Read_Mag_Raw(int16_t *mx, int16_t *my, int16_t *mz) {
+    u8 read_buf[7];
+
+    // 检查数据是否准备好 (使用8位读地址)
+    _gravity_sensor_get_ndata(AK8963_ADDR_R, AK8963_ST1, read_buf, 1);
+    if (!(read_buf[0] & 0x01)) {
+        return 1; // 数据未就绪
+    }
+
+    // 连续读取7个字节 (使用8位读地址)
+    _gravity_sensor_get_ndata(AK8963_ADDR_R, AK8963_HXL, read_buf, 7);
+
+    // 检查数据是否溢出
+    if (read_buf[6] & 0x08) {
+        return 2; // 数据溢出
+    }
+
+    // 组合数据
+    *mx = (int16_t)((read_buf[1] << 8) | read_buf[0]);
+    *my = (int16_t)((read_buf[3] << 8) | read_buf[2]);
+    *mz = (int16_t)((read_buf[5] << 8) | read_buf[4]);
+    
+    return 0; // 读取成功
+}
+
+/**
+ * @brief 读取磁力计的三轴数据，并转换为uT(微特斯拉) (此函数内部逻辑不变)
+ * @param mx, my, mz - 用于存放X, Y, Z轴数据的指针 (float类型)
+ * @return 0: 成功, 1: 数据未就绪, 2: 数据溢出
+ */
+u8 MPU9250_Read_Mag_uT(float *mx, float *my, float *mz) {
+    int16_t raw_mx, raw_my, raw_mz;
+    
+    u8 status = MPU9250_Read_Mag_Raw(&raw_mx, &raw_my, &raw_mz);
+    if (status != 0) {
+        return status;
+    }
+    
+    // 应用灵敏度校准，并转换为uT单位
+    *mx = (float)raw_mx * mag_asa_x * MAG_RAW_TO_UT_FACTOR;
+    *my = (float)raw_my * mag_asa_y * MAG_RAW_TO_UT_FACTOR;
+    *mz = (float)raw_mz * mag_asa_z * MAG_RAW_TO_UT_FACTOR;
+
+    return 0;
+}

apps/earphone/xtell_Sensor/sensor/AK8963.h

@@ -0,0 +1,46 @@
+// mpu9250_mag.h
+
+#ifndef __MPU9250_MAG_H
+#define __MPU9250_MAG_H
+
+#include "stdint.h" // 假设你有标准整数类型，u8 对应 uint8_t
+#include "gSensor/gSensor_manage.h"
+
+//==================================================================================
+// MPU9250 和 AK8963 的 I2C 地址 (已转换为8位格式)
+//==================================================================================
+// MPU9250的7位地址是 0x68(接地)
+#define MPU9250_ADDR_7BIT 0x69
+#define MPU9250_ADDR_W        (MPU9250_ADDR_7BIT << 1 | 0) // 8位写地址: 0xD0
+#define MPU9250_ADDR_R        (MPU9250_ADDR_7BIT << 1 | 1) // 8位读地址: 0xD1
+
+// AK8963磁力计的7位地址是 0x0C
+#define AK8963_ADDR_7BIT 0x0C
+#define AK8963_ADDR_W         (AK8963_ADDR_7BIT << 1 | 0) // 8位写地址: 0x18
+#define AK8963_ADDR_R         (AK8963_ADDR_7BIT << 1 | 1) // 8位读地址: 0x19
+
+
+//==================================================================================
+// MPU9250 相关寄存器 (用于开启旁路模式)
+//==================================================================================
+#define MPU9250_WHO_AM_I    0x75
+#define MPU9250_INT_PIN_CFG 0x37
+#define MPU9250_USER_CTRL   0x6A
+#define MPU9250_PWR_MGMT_1  0x6B
+//==================================================================================
+// AK8963 磁力计相关寄存器
+//==================================================================================
+#define AK8963_WIA          0x00
+#define AK8963_ST1          0x02
+#define AK8963_HXL          0x03
+#define AK8963_ST2          0x09
+#define AK8963_CNTL1        0x0A
+#define AK8963_ASAX         0x10
+
+
+u8 MPU9250_Mag_Init(void);
+u8 MPU9250_Read_Mag_Raw(int16_t *mx, int16_t *my, int16_t *mz);
+u8 MPU9250_Read_Mag_uT(float *mx, float *my, float *mz);
+
+
+#endif // __MPU9250_MAG_H

apps/earphone/xtell_Sensor/sensor/BMP280.c

@@ -0,0 +1,211 @@
+/*
+    气压计
+*/
+#include "BMP280.h"
+#include <string.h> 
+#include "os/os_api.h"
+#include "gSensor/gSensor_manage.h"
+
+/*==================================================================================*/
+/* BMP280 内部定义                                                               */
+/*==================================================================================*/
+
+// 存储校准参数的静态全局变量
+static uint16_t t1;
+static int16_t  t2, t3;
+static uint16_t p1;
+static int16_t  p2, p3, p4, p5, p6, p7, p8, p9;
+static int32_t  t_fine;
+
+/*==================================================================================*/
+/* 封装的底层I2C读写函数                                                         */
+/*==================================================================================*/
+
+/**
+ * @brief 写入单个字节到BMP280寄存器
+ */
+static uint8_t bmp280_write_reg(uint8_t reg, uint8_t data) {
+    gravity_sensor_command(BMP_IIC_WRITE_ADDRESS, reg, data);
+    return 0; 
+}
+
+/**
+ * @brief 从BMP280读取多个字节
+ */
+static uint8_t bmp280_read_regs(uint8_t reg, uint8_t *buf, uint16_t len) {
+    return _gravity_sensor_get_ndata(BMP_IIC_READ_ADDRESS, reg, buf, len);
+}
+
+/*==================================================================================*/
+/* 核心算法                                                                          */
+/*==================================================================================*/
+
+/**
+ * @brief  温度补偿计算
+ * @param  adc_T - 原始温度数据
+ * @return 补偿后的温度值 (单位: °C)
+ */
+static float compensate_temperature(int32_t adc_T) {
+    float var1, var2, temperature;
+
+    var1 = (((float)adc_T) / 16384.0f - ((float)t1) / 1024.0f) * ((float)t2);
+    var2 = ((((float)adc_T) / 131072.0f - ((float)t1) / 8192.0f) *
+           (((float)adc_T) / 131072.0f - ((float)t1) / 8192.0f)) *
+           ((float)t3);
+    t_fine = (int32_t)(var1 + var2);
+    temperature = (var1 + var2) / 5120.0f;
+
+    if (temperature < -40.0f) return -40.0f;
+    if (temperature > 85.0f) return 85.0f;
+    
+    return temperature;
+}
+
+/**
+ * @brief  气压补偿计算
+ * @param  adc_P - 原始气压数据
+ * @return 补偿后的气压值 (单位: Pa)
+ */
+static float compensate_pressure(int32_t adc_P) {
+    float var1, var2, pressure;
+
+    var1 = ((float)t_fine / 2.0f) - 64000.0f;
+    var2 = var1 * var1 * ((float)p6) / 32768.0f;
+    var2 = var2 + var1 * ((float)p5) * 2.0f;
+    var2 = (var2 / 4.0f) + (((float)p4) * 65536.0f);
+    var1 = (((float)p3) * var1 * var1 / 524288.0f + ((float)p2) * var1) / 524288.0f;
+    var1 = (1.0f + var1 / 32768.0f) * ((float)p1);
+
+    if (var1 == 0.0f) {
+        return 0; // 避免除以零
+    }
+
+    pressure = 1048576.0f - (float)adc_P;
+    pressure = (pressure - (var2 / 4096.0f)) * 6250.0f / var1;
+    var1 = ((float)p9) * pressure * pressure / 2147483648.0f;
+    var2 = pressure * ((float)p8) / 32768.0f;
+    pressure = pressure + (var1 + var2 + ((float)p7)) / 16.0f;
+
+    if (pressure < 30000.0f) return 30000.0f;
+    if (pressure > 110000.0f) return 110000.0f;
+
+    return pressure;
+}
+
+/*==================================================================================*/
+/* 外部接口函数实现                                                              */
+/*==================================================================================*/
+
+
+
+
+uint8_t bmp280_init(void) {
+    uint8_t id;
+    uint8_t calib_data[24];
+
+    // 1. 检查芯片ID
+    if (bmp280_read_regs(BMP280_REG_ID, &id, 1) == 0) {
+        printf("bmp280 get id error:%d\n",id );            
+        return 1; // I2C读取失败
+    }
+    if (id != 0x58) {
+        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) {
+        return 2; // 读取校准数据失败
+    }
+
+    // 4. 解析校准参数
+    t1 = (uint16_t)(((uint16_t)calib_data[1] << 8) | calib_data[0]);
+    t2 = (int16_t)(((int16_t)calib_data[3] << 8) | calib_data[2]);
+    t3 = (int16_t)(((int16_t)calib_data[5] << 8) | calib_data[4]);
+    p1 = (uint16_t)(((uint16_t)calib_data[7] << 8) | calib_data[6]);
+    p2 = (int16_t)(((int16_t)calib_data[9] << 8) | calib_data[8]);
+    p3 = (int16_t)(((int16_t)calib_data[11] << 8) | calib_data[10]);
+    p4 = (int16_t)(((int16_t)calib_data[13] << 8) | calib_data[12]);
+    p5 = (int16_t)(((int16_t)calib_data[15] << 8) | calib_data[14]);
+    p6 = (int16_t)(((int16_t)calib_data[17] << 8) | calib_data[16]);
+    p7 = (int16_t)(((int16_t)calib_data[19] << 8) | calib_data[18]);
+    p8 = (int16_t)(((int16_t)calib_data[21] << 8) | calib_data[20]);
+    p9 = (int16_t)(((int16_t)calib_data[23] << 8) | calib_data[22]);
+
+    // 5. 配置传感器 (推荐设置: 正常模式，高精度)
+    // t_standby=0.5ms, filter=16, spi_en=0
+    uint8_t config_reg = (0 << 5) | (4 << 2) | (0 << 0);
+    bmp280_write_reg(BMP280_REG_CONFIG, config_reg);
+    
+    // osrs_t=x2, osrs_p=x16, mode=normal
+    uint8_t ctrl_meas_reg = (2 << 5) | (5 << 2) | (3 << 0);
+    bmp280_write_reg(BMP280_REG_CTRL_MEAS, ctrl_meas_reg);
+
+    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) {
+        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));
+
+    // 如果没有数据，直接返回错误 (ADC读数为0x80000是未测量状态)
+    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

@@ -0,0 +1,54 @@
+#ifndef BMP280_DRIVER_H
+#define BMP280_DRIVER_H
+
+#include <stdint.h>
+
+
+#define BMP_PULL_UP 0  //外部是否接的上拉
+
+// I2C 从设备地址
+#if BMP_PULL_UP == 1   //外部接的高
+#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 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
+
+
+
+// BMP280 寄存器地址
+#define BMP280_REG_CALIB_START  0x88
+#define BMP280_REG_ID           0xD0
+#define BMP280_REG_RESET        0xE0
+#define BMP280_REG_STATUS       0xF3
+#define BMP280_REG_CTRL_MEAS    0xF4
+#define BMP280_REG_CONFIG       0xF5
+#define BMP280_REG_PRESS_MSB    0xF7
+
+/**
+ * @brief 初始化BMP280传感器
+ * @return 0: 成功, 1: 芯片ID错误, 2: 读取校准参数失败
+ * @note   此函数会完成ID检查、软复位、读取校准参数，并设置传感器为连续测量模式。
+ */
+uint8_t bmp280_init(void);
+
+/**
+ * @brief 从BMP280读取温度和气压数据
+ * @param[out] temperature - 指向浮点数变量的指针，用于存储温度值 (单位: °C)
+ * @param[out] pressure - 指向浮点数变量的指针，用于存储气压值 (单位: Pa)
+ * @return 0: 成功, 1: 读取数据失败
+ */
+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

@@ -0,0 +1,259 @@
+
+#include "MMC56.h"
+#include "math.h"
+#include "os/os_api.h"
+#include "../xtell.h"
+#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
+
+static void mmc5603nj_write_reg(uint8_t reg, uint8_t data) {
+    gravity_sensor_command(MMC_IIC_WRITE_ADDRESS, reg, data);
+}
+static uint32_t mmc5603nj_read_regs(uint8_t reg, uint8_t *buf, uint8_t len) {
+    return _gravity_sensor_get_ndata(MMC_IIC_READ_ADDRESS, reg, buf, len);
+}
+
+// 外部接口函数实现
+
+uint8_t mmc5603nj_get_pid(void) {
+    uint8_t pid = 0;
+    mmc5603nj_read_regs(MMC_PID, &pid, 1);
+    return pid;
+}
+
+int mmc5603nj_init(void) {
+    //  ID
+    if ( mmc5603nj_get_pid() != 0x10) {
+        printf("MMC5603NJ init failed: wrong Product ID (read: 0x%X)\n", mmc5603nj_get_pid());
+        // return 0;
+    }
+
+    //  软件复位
+    mmc5603nj_write_reg(MMC_INCTRL1, 0x80); // SW_RESET bit
+    os_time_dly(20); // 等待复位完成
+
+    //  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);
+    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
+
+    //  设置自动SET/RESET功能
+    //    AUTO_SR_EN = 1
+    mmc5603nj_write_reg(MMC_INCTRL0, 0x20); // 0b00100000
+
+    g_continuous_mode_enabled = 0;
+    printf("MMC5603NJ initialized successfully.\n");
+
+    mmc5603nj_enable_continuous_mode(0x04);
+
+    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);
+
+    // 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;
+    // 首次读取以获取初始值
+    mmc5603nj_read_mag_data(&temp_mag_data); // 首次读取不应用校准
+
+    float max_x = temp_mag_data.x;
+    float min_x = temp_mag_data.x;
+    float max_y = temp_mag_data.y;
+    float min_y = temp_mag_data.y;
+    float max_z = temp_mag_data.z;
+    float min_z = temp_mag_data.z;
+
+    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_TIME/SAMPLE_INTERVAL;
+
+    while (samples <= over) {
+        // 读取原始磁力计数据
+        mmc5603nj_read_mag_data(&temp_mag_data);
+
+        // 更新最大最小值
+        if (temp_mag_data.x > max_x) max_x = temp_mag_data.x;
+        if (temp_mag_data.x < min_x) min_x = temp_mag_data.x;
+
+        if (temp_mag_data.y > max_y) max_y = temp_mag_data.y;
+        if (temp_mag_data.y < min_y) min_y = temp_mag_data.y;
+
+        if (temp_mag_data.z > max_z) max_z = temp_mag_data.z;
+        if (temp_mag_data.z < min_z) min_z = temp_mag_data.z;
+        
+        samples++;
+        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
+    if ((max_x - min_x < 0.1f) || (max_y - min_y < 0.1f) || (max_z - min_z < 0.1f)) {
+        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;
+    }
+
+    // 计算硬磁偏移 (椭球中心)
+    cal_data.offset_x = (max_x + min_x) / 2.0f;
+    cal_data.offset_y = (max_y + min_y) / 2.0f;
+    cal_data.offset_z = (max_z + min_z) / 2.0f;
+
+    printf("\n--- Calibration Complete ---\n");
+    printf("Collected %d samples.\n", samples);
+    printf("Offsets (Gauss):\n");
+    printf("  X: %.4f\n", cal_data.offset_x);
+    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");
+}
+
+
+
+void mmc5603nj_enable_continuous_mode(uint8_t rate) {
+    // 在连续模式下，ODR寄存器必须被设置
+    mmc5603nj_write_reg(MMC_ODR, rate); //要设置频率
+    // mmc5603nj_set_data_rate(0x04);
+
+    // 启用连续模式 (INCTRL2的CMM_EN位已在init中设置)
+    // 只需要设置 INCTRL0 的 CMM_FREQ_EN 位
+    mmc5603nj_write_reg(MMC_INCTRL0, 0xA0); // 0b10100000 (CMM_FREQ_EN=1, AUTO_SR_EN=1)
+    g_continuous_mode_enabled = 1;
+}
+
+void mmc5603nj_disable_continuous_mode(void) {
+    // 禁用连续模式
+    mmc5603nj_write_reg(MMC_INCTRL0, 0x20); // 恢复到仅使能 AUTO_SR_EN 的状态
+    g_continuous_mode_enabled = 0;
+}
+
+float mmc5603nj_get_temperature(void) {
+    uint8_t status = 0;
+    uint8_t temp_raw = 0;
+    uint8_t timeout = 20; 
+
+    // 触发一次温度测量
+    mmc5603nj_write_reg(MMC_INCTRL0, 0x02); // TAKE_MEAS_T
+
+    // 等待测量完成
+    do {
+        os_time_dly(10);
+        mmc5603nj_read_regs(MMC_STATUS1, &status, 1);
+        timeout--;
+    } while ((status & 0x80) == 0 && timeout > 0);
+
+    if (timeout == 0) {
+        printf("Error: Temperature measurement timeout!\n");
+        return -273.15f; // 返回一个绝对零度的错误值
+    }
+
+    mmc5603nj_read_regs(MMC_TOUT, &temp_raw, 1);
+    return ((float)temp_raw * 0.8f) - 75.0f;
+}
+
+void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data) {
+    uint8_t buffer[9];
+
+    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");
+            mag_data->x = mag_data->y = mag_data->z = 0.0f;
+            return;
+        }
+    }
+
+    // 读取9个字节的原始数据
+    mmc5603nj_read_regs(MMC_XOUT0, buffer, 9);
+
+    // 解析数据 (20位分辨率)
+    int32_t raw_x = ((uint32_t)buffer[0] << 12) | ((uint32_t)buffer[1] << 4) | ((uint32_t)buffer[6] & 0x0F);
+    int32_t raw_y = ((uint32_t)buffer[2] << 12) | ((uint32_t)buffer[3] << 4) | ((uint32_t)buffer[6] >> 4);
+    int32_t raw_z = ((uint32_t)buffer[4] << 12) | ((uint32_t)buffer[5] << 4) | ((uint32_t)buffer[8] & 0x0F);
+
+    // 应用偏置和灵敏度进行转换
+    mag_data->x = ((float)raw_x - 524288.0f) / 16384.0f;
+    mag_data->y = ((float)raw_y - 524288.0f) / 16384.0f;
+    mag_data->z = ((float)raw_z - 524288.0f) / 16384.0f;
+
+    //减去偏移
+    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

@@ -0,0 +1,103 @@
+#ifndef MMC5603NJ_DRIVER_H
+#define MMC5603NJ_DRIVER_H
+
+#include <stdint.h>
+
+
+//该芯片的iic地址是固定的, 没法通过外部上下拉来改变
+#define BMP_IIC_7BIT_ADDRESS 0x30  //0110000   手册第12页
+//8位地址:
+#define MMC_IIC_WRITE_ADDRESS  (BMP_IIC_7BIT_ADDRESS <<1)    // 0x60 : 01100000
+#define MMC_IIC_READ_ADDRESS   (MMC_IIC_WRITE_ADDRESS | 0x01)  // 0x61 : 01100001
+
+
+
+// 寄存器地址定义 -- 数据手册第6页
+#define MMC_XOUT0               0x00
+#define MMC_XOUT1               0x01
+#define MMC_YOUT0               0x02
+#define MMC_YOUT1               0x03
+#define MMC_ZOUT0               0x04
+#define MMC_ZOUT1               0x05
+#define MMC_XOUT2               0x06
+#define MMC_YOUT2               0x07
+#define MMC_ZOUT2               0x08
+#define MMC_TOUT                0x09
+#define MMC_STATUS1             0x18
+#define MMC_ODR                 0x1A
+#define MMC_INCTRL0             0x1B
+#define MMC_INCTRL1             0x1C
+#define MMC_INCTRL2             0x1D
+#define MMC_ST_X_TH             0x1E
+#define MMC_ST_Y_TH             0x1F
+#define MMC_ST_Z_TH             0x20
+#define MMC_ST_X                0x27
+#define MMC_ST_Y                0x28
+#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;
+    float y;
+    float z;
+} mmc5603nj_mag_data_t;
+
+// 定义一个结构体来存放磁力计的硬磁偏移校准数据
+typedef struct {
+    float offset_x;
+    float offset_y;
+    float offset_z;
+} mmc5603nj_cal_data_t;
+
+/**
+ * @brief 初始化MMC5603NJ传感器
+ *        该函数会对传感器进行软件复位，并检查设备ID。
+ * @return 0 表示成功, -1 表示失败 (设备ID不匹配).
+ */
+int mmc5603nj_init(void);
+
+/**
+ * @brief 设置传感器的数据输出速率 (ODR - Output Data Rate)
+ * @param rate 速率值，具体含义请参考datasheet ODR寄存器说明。
+ */
+void mmc5603nj_set_data_rate(uint8_t rate);
+
+/**
+ * @brief 启用连续测量模式
+ */
+void mmc5603nj_enable_continuous_mode(uint8_t rate);
+
+/**
+ * @brief 禁用连续测量模式
+ */
+void mmc5603nj_disable_continuous_mode(void);
+
+/**
+ * @brief 获取产品ID
+ * @return 产品的ID值，对于MMC5603NJ，应为0x10.
+ */
+uint8_t mmc5603nj_get_pid(void);
+
+/**
+ * @brief 读取传感器的温度
+ * @return 温度值 (单位: 摄氏度 °C).
+ */
+float mmc5603nj_get_temperature(void);
+
+/**
+ * @brief 读取三轴磁场数据
+ *        此函数会根据当前是连续模式还是单次模式来读取数据。
+ * @param mag_data 指向 mmc5603nj_mag_data_t 结构体的指针，用于存放结果。
+ */
+void mmc5603nj_read_mag_data(mmc5603nj_mag_data_t *mag_data);
+
+#endif // MMC5603NJ_DRIVER_H

apps/earphone/xtell_Sensor/sensor/SC7U22.h

@@ -9,6 +9,7 @@ Copyright (c) 2022 Silan MEMS. All Rights Reserved.
 
 #include "gSensor/gSensor_manage.h"
 #include "printf.h"
+#include "MMC56.h"
 
 //是否使能串口打印调试
 #define SL_Sensor_Algo_Release_Enable  0x00
@@ -19,12 +20,12 @@ Copyright (c) 2022 Silan MEMS. All Rights Reserved.
 /***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
@@ -130,6 +131,10 @@ 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);
 unsigned char get_calibration_state(void);
 /**寄存器宏定义*******************************/
 #define SC7U22_WHO_AM_I         0x01

apps/earphone/xtell_Sensor/sensor/SC7U22_Ma.c

@@ -925,72 +925,3 @@ unsigned char SL_SC7U22_Angle_Output(unsigned char calibration_en, signed short
 }
 #endif
 
-
-/*
-//-----------------------------------------
-调用示例-by_lmx：
-
-
-//1.
-// 定义用于存放传感器数据的缓冲区
-static signed short acc_raw_data[3];    // [0]: acc_x, [1]: acc_y, [2]: acc_z
-static signed short gyr_raw_data[3];    // [0]: gyr_x, [1]: gyr_y, [2]: gyr_z
-static signed short combined_raw_data[6]; // 用于合并 acc 和 gyr 数据
-static float final_angle_data[3];      // [0]: Pitch, [1]: Roll, [2]: Yaw
-
-// 传感器数据处理任务
-void sensor_processing_task(void *priv)
-{
-    while (1) {
-        // 4. 周期性调用读取函数，获取原始数据
-        SL_SC7U22_RawData_Read(acc_raw_data, gyr_raw_data);
-
-        // 5. 合并加速度和角速度数据到一个数组中
-        // SL_SC7U22_Angle_Output 函数需要一个包含6个元素的数组作为输入
-        memcpy(&combined_raw_data[0], acc_raw_data, sizeof(acc_raw_data));
-        memcpy(&combined_raw_data[3], gyr_raw_data, sizeof(gyr_raw_data));
-
-        // 6. 调用姿态解算函数
-        // 参数: (校准使能, 输入的6轴数据, 输出的角度数据, Yaw轴复位标志)
-        // calibration_en = 1: 让函数内部自动管理校准过程
-        // yaw_rst = 0:      不复位Yaw角
-        unsigned char status = SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
-
-        // 7. 检查函数返回的状态
-        if (status == 1) {
-            // 计算成功，final_angle_data 中的数据有效
-            printf("Pitch: %.2f, Roll: %.2f, Yaw: %.2f\n", final_angle_data[0], final_angle_data[1], final_angle_data[2]);
-        } else if (status == 0) {
-            // 传感器正在进行静态校准，此时角度数据可能不准确
-            printf("Sensor is calibrating...\n");
-        } else {
-            // status == 2, 表示校准未完成或发生错误
-            printf("Angle calculation error or calibration not finished.\n");
-        }
-
-        // 延时一段时间，例如10ms (对应100Hz)
-        os_time_dly(1);
-    }
-}
-
-// 应用程序主入口或初始化函数
-void app_main()
-{
-    // ... 其他初始化代码 ...
-
-    // 2. 调用初始化函数来配置SCU722传感器
-    unsigned char init_success = SL_SC7U22_Config();
-
-    if (init_success) {
-        printf("SCU722 初始化成功!\n");
-        // 3. 创建一个任务来周期性地读取和处理数据
-        task_create(sensor_processing_task, NULL, "sensor_task");
-    } else {
-        printf("SCU722 初始化失败!\n");
-    }
-
-    // ...
-}
-
-//-----------------------------------------
-*/

apps/earphone/xtell_Sensor/sensor/WF282A.c

@@ -0,0 +1,181 @@
+/*
+    气压计 - WF282A
+*/
+#include "wf282a.h"
+#include <math.h>
+#include <stdint.h> // 推荐使用标准类型
+#include "gSensor/gSensor_manage.h"
+
+/*==================================================================================*/
+/*    WF282A 内部定义                                                               */
+/*==================================================================================*/
+
+// 存储校准系数的静态全局变量
+static int16_t c0, c1, c01, c11, c20, c21, c30;
+static int32_t c00, c10;
+
+/*==================================================================================*/
+/*     封装的底层I2C读写函数                                                         */
+/*==================================================================================*/
+
+/**
+ * @brief 写入单个字节到WF282A寄存器
+ */
+static void wf282a_write_reg(uint8_t reg, uint8_t data) {
+    gravity_sensor_command(WF_IIC_WRITE_ADDRESS, reg, data);
+}
+
+/**
+ * @brief 从WF282A读取多个字节
+ */
+static uint32_t wf282a_read_regs(uint8_t reg, uint8_t *buf, uint8_t len) {
+    return _gravity_sensor_get_ndata(WF_IIC_READ_ADDRESS, reg, buf, len);
+}
+
+/*==================================================================================*/
+/*    内部辅助函数                                                                  */
+/*==================================================================================*/
+
+/**
+ * @brief 从缓冲区中解析所有校准系数
+ * @param buf 包含从寄存器0x10开始读取的18个字节的校准数据
+ */
+static void parse_calibration_data(const uint8_t *buf) {
+    // c0 (12-bit)
+    c0 = ((int16_t)buf[0] << 4) | (buf[1] >> 4);
+    if (c0 & (1 << 11)) c0 |= 0xF000;
+
+    // c1 (12-bit)
+    c1 = (((int16_t)buf[1] & 0x0F) << 8) | buf[2];
+    if (c1 & (1 << 11)) c1 |= 0xF000;
+
+    // c00 (20-bit)
+    c00 = ((int32_t)buf[3] << 12) | ((int32_t)buf[4] << 4) | (buf[5] >> 4);
+    if (c00 & (1 << 19)) c00 |= 0xFFF00000;
+
+    // c10 (20-bit)
+    c10 = (((int32_t)buf[5] & 0x0F) << 16) | ((int32_t)buf[6] << 8) | buf[7];
+    if (c10 & (1 << 19)) c10 |= 0xFFF00000;
+
+    // c01, c11, c20, c21, c30 (16-bit)
+    c01 = (int16_t)((uint16_t)buf[8] << 8 | buf[9]);
+    c11 = (int16_t)((uint16_t)buf[10] << 8 | buf[11]);
+    c20 = (int16_t)((uint16_t)buf[12] << 8 | buf[13]);
+    c21 = (int16_t)((uint16_t)buf[14] << 8 | buf[15]);
+    c30 = (int16_t)((uint16_t)buf[16] << 8 | buf[17]);
+}
+
+/**
+ * @brief 获取原始温度值 (ADC)
+ */
+static int32_t Get_Traw() {
+    uint8_t buff[3];
+    int32_t Traw;
+    // 从 MSB 寄存器 WF_TMP_B2 (0x03) 开始连续读取3个字节
+    wf282a_read_regs(WF_TMP_B2, buff, 3);
+    // buff[0] = B2 (MSB), buff[1] = B1, buff[2] = B0 (LSB)
+    Traw = (int32_t)buff[0] << 16 | (int32_t)buff[1] << 8 | (int32_t)buff[2];
+    // 24位二进制补码转32位
+    if (Traw & (1 << 23)) {
+        Traw |= 0xFF000000;
+    }
+    return Traw;
+}
+
+/**
+ * @brief 获取原始气压值 (ADC)
+ */
+static int32_t Get_Praw() {
+    uint8_t buff[3];
+    int32_t Praw;
+    // 从 MSB 寄存器 WF_PRS_B2 (0x00) 开始连续读取3个字节
+    wf282a_read_regs(WF_PRS_B2, buff, 3);
+    // buff[0] = B2 (MSB), buff[1] = B1, buff[2] = B0 (LSB)
+    Praw = (int32_t)buff[0] << 16 | (int32_t)buff[1] << 8 | (int32_t)buff[2];
+    // 24位二进制补码转32位
+    if (Praw & (1 << 23)) {
+        Praw |= 0xFF000000;
+    }
+    return Praw;
+}
+
+/*==================================================================================*/
+/* 4. 外部接口函数实现                                                              */
+/*==================================================================================*/
+
+uint8_t WF_Init() {
+    uint8_t calib_buf[18];
+    uint8_t check_cfg;
+
+    // 1. 配置传感器工作模式
+    // 推荐配置：压力8次过采样，温度1次过采样，测量速率16Hz
+    wf282a_write_reg(WF_PRS_CFG, (PM_RATE_16 << 4) | PM_PRC_8);
+    wf282a_write_reg(WF_TMP_CFG, (TMP_RATE_16 << 4) | TMP_PRC_1 | TMP_INT_SENSOR);
+    wf282a_write_reg(WF_MEAS_CFG, 0x07); // 启动连续压力和温度测量
+    wf282a_write_reg(WF_CFG_REG, 0x00);  // 无中断或FIFO移位配置
+
+    // 2. 一次性读取所有校准系数 (从0x10到0x21，共18字节)
+    if (wf282a_read_regs(COEF_C0, calib_buf, 18) != 0) {
+        return 2; // 读取校准数据失败
+    }
+    parse_calibration_data(calib_buf);
+
+    // 3. 检查配置是否写入成功
+    wf282a_read_regs(WF_MEAS_CFG, &check_cfg, 1);
+    if (check_cfg != 0x07) {
+        return 1; // 错误
+    } else {
+        return 0; // 成功
+    }
+}
+
+void WF_Sleep() {
+    wf282a_write_reg(WF_MEAS_CFG, 0x00); // 待机模式
+}
+
+void WF_Wakeup() {
+    wf282a_write_reg(WF_MEAS_CFG, 0x07); // 恢复连续测量
+}
+
+uint8_t WF_GetID() {
+    uint8_t id;
+    wf282a_read_regs(WF_ID_REG, &id, 1);
+    return id;
+}
+
+float WF_Temperature_Calculate() {
+    float Traw_sc;
+    int32_t Traw = Get_Traw();
+
+    Traw_sc = (float)Traw / KT; // 缩放原始温度值
+    return (float)c0 * 0.5f + (float)c1 * Traw_sc;
+}
+
+float WF_Pressure_Calculate() {
+    float Traw_sc, Praw_sc, Pcomp;
+    int32_t Traw = Get_Traw();
+    int32_t Praw = Get_Praw();
+
+    Traw_sc = (float)Traw / KT; // 缩放原始温度值
+    Praw_sc = (float)Praw / KP; // 缩放原始压力值
+
+    // 公式: 手册给出
+    Pcomp = (float)c00
+            + Praw_sc * ((float)c10 + Praw_sc * ((float)c20 + Praw_sc * (float)c30))
+            + Traw_sc * (float)c01
+            + Traw_sc * Praw_sc * ((float)c11 + Praw_sc * (float)c21);
+
+    return Pcomp;
+}
+
+float WF_Altitude_Calculate() {
+    float pressure_pa = WF_Pressure_Calculate();
+    // 使用标准大气压公式计算海拔
+    // P = P0 * (1 - L*h / T0)^(g*M / (R*L))
+    // 简化公式: h = 44330 * (1 - (P/P0)^(1/5.255))
+    // 1/5.255 ≈ 0.1903
+    if (pressure_pa <= 0) {
+        return 0.0f; // 避免无效计算
+    }
+    return 44330.0f * (1.0f - powf(pressure_pa / 101325.0f, 0.1902949f));
+}

apps/earphone/xtell_Sensor/sensor/WF282A.h

@@ -0,0 +1,148 @@
+#ifndef _WF282A_H_
+#define _WF282A_H_
+
+#include <stdint.h> // 使用标准整数类型
+
+// 标定值
+#define KT                          524288.0f
+#define KP                          1572864.0f
+
+
+#define WF_PULL_UP 1  //外部是否接的上拉
+
+// I2C 从设备地址
+#if WF_PULL_UP == 1   //外部接的高
+#define WF_IIC_7BIT_ADDRESS 0x77 //7位,外部接高为0x77
+#define WF_IIC_WRITE_ADDRESS  (WF_IIC_7BIT_ADDRESS<<1)  //8位地址
+#define WF_IIC_READ_ADDRESS   (WF_IIC_WRITE_ADDRESS | 0x01)
+#else
+#define WF_IIC_7BIT_ADDRESS 0x76  //7位,外部接低为0x76
+#define WF_IIC_WRITE_ADDRESS  (WF_IIC_7BIT_ADDRESS<<1)  //8位地址
+#define WF_IIC_READ_ADDRESS   (WF_IIC_WRITE_ADDRESS | 0x01)
+#endif
+
+#define WF_CHIP_ID                  0X10
+
+// 寄存器映射
+// 压力数据
+#define WF_PRS_B2                   0x00
+#define WF_PRS_B1                   0x01
+#define WF_PRS_B0                   0x02
+// 温度数据
+#define WF_TMP_B2                   0x03
+#define WF_TMP_B1                   0x04
+#define WF_TMP_B0                   0x05
+// 配置寄存器
+#define WF_PRS_CFG                  0x06
+#define WF_TMP_CFG                  0x07
+#define WF_MEAS_CFG                 0x08
+#define WF_CFG_REG                  0x09
+#define WF_INT_STS                  0x0A
+#define WF_FIFO_STS                 0x0B
+#define WF_RESET_REG                0x0C
+// ID寄存器
+#define WF_ID_REG                   0x0D
+// 校准系数寄存器
+#define COEF_C0                     0x10
+#define COEF_C0_C1                  0x11
+#define COEF_C1                     0x12
+#define COEF_C00_H                  0x13
+#define COEF_C00_L                  0x14
+#define COEF_C00_C10                0x15
+#define COEF_C10_M                  0x16
+#define COEF_C10_L                  0x17
+#define COEF_C01_H                  0x18
+#define COEF_C01_L                  0x19
+#define COEF_C11_H                  0x1A
+#define COEF_C11_L                  0x1B
+#define COEF_C20_H                  0x1C
+#define COEF_C20_L                  0x1D
+#define COEF_C21_H                  0x1E
+#define COEF_C21_L                  0x1F
+#define COEF_C30_H                  0x20
+#define COEF_C30_L                  0x21
+
+// --- 配置宏  ---
+
+// 压力配置 (PRS_CFG[6:4]) - 测量速率
+#define PM_RATE_1                   0x00 // 1   次/秒
+#define PM_RATE_2                   0x01 // 2   次/秒
+#define PM_RATE_4                   0x02 // 4   次/秒
+#define PM_RATE_8                   0x03 // 8   次/秒
+#define PM_RATE_16                  0x04 // 16  次/秒
+#define PM_RATE_32                  0x05 // 32  次/秒
+#define PM_RATE_64                  0x06 // 64  次/秒
+#define PM_RATE_128                 0x07 // 128 次/秒
+// 压力配置 (PRS_CFG[3:0]) - 过采样率
+#define PM_PRC_1                    0x00 // 1   次 (单次)
+#define PM_PRC_2                    0x01 // 2   次 (低功耗)
+#define PM_PRC_4                    0x02 // 4   次
+#define PM_PRC_8                    0x03 // 8   次 (标准)
+#define PM_PRC_16                   0x04 // 16  次 (需要移位)
+#define PM_PRC_32                   0x05 // 32  次 (需要移位)
+#define PM_PRC_64                   0x06 // 64  次 (高精度, 需要移位)
+#define PM_PRC_128                  0x07 // 128 次 (需要移位)
+
+// 温度配置 (TMP_CFG[7]) - 传感器源
+#define TMP_EXT_SENSOR              0x80 // 使用外部传感器
+#define TMP_INT_SENSOR              0x00 // 使用内部传感器
+// 温度配置 (TMP_CFG[6:4]) - 测量速率
+#define TMP_RATE_1                  0x00 // 1   次/秒
+#define TMP_RATE_2                  0x01 // 2   次/秒
+#define TMP_RATE_4                  0x02 // 4   次/秒
+#define TMP_RATE_8                  0x03 // 8   次/秒
+#define TMP_RATE_16                 0x04 // 16  次/秒
+#define TMP_RATE_32                 0x05 // 32  次/秒
+#define TMP_RATE_64                 0x06 // 64  次/秒
+#define TMP_RATE_128                0x07 // 128 次/秒
+// 温度配置 (TMP_CFG[3:0]) - 过采样率
+#define TMP_PRC_1                   0x00 // 1   次
+#define TMP_PRC_2                   0x01 // 2   次
+#define TMP_PRC_4                   0x02 // 4   次
+#define TMP_PRC_8                   0x03 // 8   次
+#define TMP_PRC_16                  0x04 // 16  次
+#define TMP_PRC_32                  0x05 // 32  次
+#define TMP_PRC_64                  0x06 // 64  次
+#define TMP_PRC_128                 0x07 // 128 次
+
+/**
+ * @brief 初始化WF282A传感器
+ * @return 0: 成功, 1: 失败
+ */
+uint8_t WF_Init(void);
+
+/**
+ * @brief 使传感器进入休眠/待机模式
+ */
+void WF_Sleep(void);
+
+/**
+ * @brief 唤醒传感器，开始连续测量
+ */
+void WF_Wakeup(void);
+
+/**
+ * @brief 获取传感器芯片ID
+ * @return 芯片ID (应为 0x10)
+ */
+uint8_t WF_GetID(void);
+
+/**
+ * @brief 计算并返回当前海拔高度
+ * @return 海拔高度 (单位: 米)
+ */
+float WF_Altitude_Calculate(void);
+
+/**
+ * @brief 计算并返回补偿后的压力值
+ * @return 压力 (单位: Pa)
+ */
+float WF_Pressure_Calculate(void);
+
+/**
+ * @brief 计算并返回补偿后的温度值
+ * @return 温度 (单位: °C)
+ */
+float WF_Temperature_Calculate(void);
+
+#endif // _WF282A_H_

apps/earphone/xtell_Sensor/xtell.h

@@ -1,8 +1,10 @@
 #ifndef XTELL_H
 #define XTELL_H
+#include "system/includes.h"
 
-#define KS_BLE 1
+// #define KS_BLE 1
 #define XTELL_TEST 1
 
+#define ACC_RANGE  16 //g，加速度满量程:2、4、8、16
 
 #endif

apps/earphone/xtell_Sensor/xtell_app_main.c

@@ -100,6 +100,10 @@ void close_BL(){
     close_process(&close_BL_number,__func__);
 }
 
+void xtell_set_ble_name(char* name){
+    
+}
+
 
 extern u32 timer_get_ms(void);
 void xtell_app_main()
@@ -145,7 +149,7 @@ void xtell_app_main()
     //////////////////////////////////////////////////
 
     //开机必须延时关闭经典蓝牙，不然底层代码会再次把蓝牙 打开 
-    create_process(&close_BL_number, "close_BL",NULL, close_BL, 3000);
+    // create_process(&close_BL_number, "close_BL",NULL, close_BL, 3000);
 
 
     

apps/earphone/xtell_Sensor/xtell_handler.c

@@ -45,6 +45,11 @@
 #include "default_event_handler.h"
 #include "debug.h"
 #include "system/event.h"
+#include "./ano/ano_protocol.h"
+#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
@@ -78,15 +83,25 @@ 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-11111";
+unsigned char xt_ble_new_name[9] = "CM-22222";
 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
+// -- 线程id --
+u16 SC7U22_calibration_id;
+u16 start_collect_fuc_id;
+u16 BLE_send_fuc_id;
 //
 ///////////////////////////////////////////////////////////////////////////////////////////////////
-
-
-
 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);
 ///////////////////////////////////////////////////////////////////////////////////////////////////
 /*
  * 模式状态机, 通过start_app()控制状态切换
@@ -198,36 +213,86 @@ void le_user_app_event_handler(struct sys_event* event){
             if (event->u.app.buffer[0] == 0xBE && event->u.app.buffer[1] == 0xBB) {
                 if(event->u.app.buffer[2] == 0x01){      //后面的数据长度 1
                     switch (event->u.app.buffer[3]){
-                        case 0x01:
-                            extern void start_detection(void);
-                            start_detection();
-                            char* send_tmp = "start_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x02:
-                            extern void stop_detection(void);
-                            stop_detection();
-                            send_tmp = "stop_detection\n";
-                            send_data_to_ble_client(send_tmp,strlen(send_tmp));
-                            break;
-                        case 0x03:
-                            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));
-                            
+                        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;
                         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
+                                if (SL_SC7U22_Config() == 0) {
+                                    send2_0[4] = 0x00;    //初始化失败
+                                    SC7U22_init = 0x10;
+                                    send_data_to_ble_client(&send2_0,5);
+                                    return;
+                                }
+                                create_process(&SC7U22_calibration_id,"SC7U22_calibration",NULL,SC7U22_static_calibration,10);
+                            }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: //数据包类型为：获取指定传感器初始化状态
+                            u8 send2_1[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                            if(event->u.app.buffer[4] == 0x01){  //六轴
+                                send2_1[4] = SC7U22_init;
+                            }else if(event->u.app.buffer[4] == 0x02){  //地磁
+                                send2_1[4] = MMC5603nj_init;
+                            }else if(event->u.app.buffer[4] == 0x03){  //气压计
+                                send2_1[4] = BMP280_init;
+                            }
+                            send_data_to_ble_client(&send2_1,5);
+                            break;
+                        case 0x02:  //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_2[5] = {0xBB,0xBE,0x02,0x00,0x00};
+                                    send_data_to_ble_client(&send2_2,5);
+                                    return;
+                                }
+                                create_process(&start_collect_fuc_id,"start_collect",NULL,start_collect_fuc,10);
+                                create_process(&BLE_send_fuc_id,"BLE_send_fuc",NULL,BLE_send_fuc,1);
+                            }else if(event->u.app.buffer[4] == 0x02){ //停止滑雪计算
+                                close_process(&start_collect_fuc_id,"start_collect");
+                                close_process(&BLE_send_fuc_id,"BLE_send_fuc");
+                            }
+                            break;
                     }
                 }
             }
-        break;
+            break;
 
         default:
-        xlog("%d\n",event->type);
-        break;
+            xlog("%d\n",event->type);
+            break;
     }
 
 
@@ -313,7 +378,7 @@ static int bt_connction_status_event_handler(struct bt_event *bt)
     case BT_STATUS_FIRST_CONNECTED:
         xlog("BT_STATUS_CONNECTED\n");
         xtell_bl_state = 1;                 //蓝牙连接成功 置1 
-        if(strcmp(xt_ble_new_name,"CM-1111") != 0){
+        if(strcmp(xt_ble_new_name,"CM-11111") != 0){
             //蓝牙连接成功
             bt_newname =1;
             u8 temp[5]={0xBB,0xBE,0x02,0x04,0x00};

cpu/br28/iic_hw.c

@@ -138,7 +138,7 @@ int hw_iic_init(hw_iic_dev iic)
     iic_end_pnd_clr(iic_regs[id]);
     iic_start_pnd_clr(iic_regs[id]);
     iic_enable(iic_regs[id]);
-#if 0
+#if 1
     printf("info->scl = %d\n", iic_get_scl(iic));
     printf("info->sda = %d\n", iic_get_sda(iic));
     printf("info->baudrate = %d\n", iic_info_baud(iic));
@@ -150,7 +150,7 @@ int hw_iic_init(hw_iic_dev iic)
     printf("IIC_CON1 0x%04x\n", iic_regs[id]->CON1);
     printf("IIC_BAUD 0x%02x\n", iic_regs[id]->BAUD);
     //printf("IIC_BUF %02x\n", iic_regs[id]->BUF);
-    printf("IOMC1 0x%08x\n", JL_IOMAP->CON1);
+    // printf("IOMC1 0x%08x\n", JL_IOMAP->CON1);
 #endif
     return 0;
 }
@@ -188,12 +188,18 @@ void hw_iic_stop(hw_iic_dev iic)
 
 u8 hw_iic_tx_byte(hw_iic_dev iic, u8 byte)
 {
+    // printf("====debug1=======\n");
     u8 id = iic_get_id(iic);
+    // printf("====debug2=======\n");
     iic_dir_out(iic_regs[id]);
+    // printf("====debug3=======\n");
     iic_buf_reg(iic_regs[id]) = byte;
+    // printf("====debug4=======\n");
     iic_cfg_done(iic_regs[id]);
+    // printf("====debug5=======\n");
     /* putchar('a'); */
     while (!iic_pnd(iic_regs[id]));
+    // printf("====debug6=======\n");
     iic_pnd_clr(iic_regs[id]);
     /* putchar('b'); */
     return iic_send_is_ack(iic_regs[id]);

cpu/br28/tools/sdk.elf.resolution.txt

@@ -61,42 +61,6 @@ objs/apps/common/audio/audio_plc.c.o
 objs/apps/common/audio/audio_utils.c.o
 -r=objs/apps/common/audio/audio_utils.c.o,digital_phase_inverter_s16,pl
 objs/apps/common/audio/decode/audio_key_tone.c.o
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_destroy,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_taskq_post_msg,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_time_dly,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,task_kill,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,local_irq_disable,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,free,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,local_irq_enable,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_init,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,zalloc,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,task_create,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play_sin,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play_name,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play_index,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_play,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_is_play,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_key_tone_digvol_set,pl
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_taskq_pend,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_create_by_parm,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_app_start,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,fopen,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,fget_name,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,fclose,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,ASCII_StrCmpNoCase,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_create,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_file_app_create,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_app_set_frame_info,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_probe,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_mixer_get_ch_num,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,app_audio_state_switch,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,get_tone_vol,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_file_app_close,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,audio_dec_sine_app_close,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,app_audio_state_exit,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,os_taskq_post_type,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,strlen,l
--r=objs/apps/common/audio/decode/audio_key_tone.c.o,mixer,l
 objs/apps/common/audio/decode/decode.c.o
 -r=objs/apps/common/audio/decode/decode.c.o,audio_dec_app_create_param_init,pl
 -r=objs/apps/common/audio/decode/decode.c.o,audio_dac_get_channel,l
@@ -418,16 +382,17 @@ objs/apps/common/device/gSensor/gSensor_manage.c.o
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,cbuf_clear,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,write_gsensor_data_handle,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,cbuf_write,l
--r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gravity_sensor_command,pl
--r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_start,l
--r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_tx_byte,l
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,i2c_scanner_probe,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_start,l
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_tx_byte,l
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_stop,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,delay,l
--r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_stop,l
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gravity_sensor_command,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,_gravity_sensor_get_ndata,pl
--r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_rx_byte,l
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_rx_byte,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensor_io_ctl,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gravity_sensor_init,pl
--r=objs/apps/common/device/gSensor/gSensor_manage.c.o,soft_iic_init,l
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,hw_iic_init,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,memcmp,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,strlen,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gpio_set_pull_up,l
@@ -439,14 +404,25 @@ objs/apps/common/device/gSensor/gSensor_manage.c.o
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensor_disable,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,free,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensor_enable,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,puts,l
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gSensor_hdl,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,__gSensor_info,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,read_write_status,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,w_log_buffer_1,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,w_log_buffer_2,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,w_log_buffer_3,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,w_log_buffer_4,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,sen_log_buffer_1,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,sen_log_buffer_2,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,sen_log_buffer_3,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,sen_log_buffer_4,pl
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,sensor_iic_init_status,
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensor_dev_begin,
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensor_dev_end,
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,gsensorlen,
 -r=objs/apps/common/device/gSensor/gSensor_manage.c.o,iic_lock,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,w_log_buffer_5,pl
+-r=objs/apps/common/device/gSensor/gSensor_manage.c.o,sen_log_buffer_5,pl
 objs/apps/common/device/gSensor/mpu6050.c.o
 objs/apps/common/device/gx8002_npu/gx8002_enc/gx8002_enc.c.o
 objs/apps/common/device/gx8002_npu/gx8002_npu.c.o
@@ -1901,9 +1877,11 @@ objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_mod
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,bt_ble_init_do,pl
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,bt_ble_adv_ioctl,pl
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,ble_module_enable,pl
+-r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,user_ble_gap_device_set,pl
+-r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,strlen,l
+-r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,strcpy,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,bt_ble_init,pl
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,bt_get_local_name,l
--r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,strlen,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,bt_ble_exit,pl
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,ble_get_server_operation_table,pl
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,ble_server_send_test_key_num,pl
@@ -1932,19 +1910,19 @@ objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_mod
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,JL_rcsp_auth_reset,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,rcsp_dev_select,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,stop_get_music_timer,l
--r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,get_defalut_bt_channel_sel,l
--r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,btcon_hash,l
--r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,put_buf,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,tws_api_get_role,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,JL_get_cur_bt_channel_sel,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,JL_rcsp_get_auth_flag,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,adv_info_notify,l
+-r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,get_defalut_bt_channel_sel,l
+-r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,put_buf,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,JL_rcsp_event_to_user,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,sys_timeout_add,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,update_slave_adv_reopen,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,sys_auto_shut_down_disable,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,get_self_battery_level,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,get_charge_online_flag,l
+-r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,btcon_hash,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,puts,l
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,bt_adv_handle,pl
 -r=objs/apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data/le_rcsp_adv_module.c.o,sibling_ver_info,pl
@@ -2996,8 +2974,6 @@ objs/apps/earphone/board/br28/board_jl701n_demo.c.o
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,sleep_enter_callback_common,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_init,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_set_callback,l
--r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,umidigi_chargestore_message_callback,l
--r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,app_umidigi_chargetore_message_deal,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_keep_dacvdd_en,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_wakeup_init,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,power_awakeup_set_callback,l
@@ -3008,7 +2984,6 @@ objs/apps/earphone/board/br28/board_jl701n_demo.c.o
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_open,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_close,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_write,l
--r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,ldo_port_wakeup_to_cmessage,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,chargestore_ldo5v_fall_deal,l
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,status_config,pl
 -r=objs/apps/earphone/board/br28/board_jl701n_demo.c.o,key_table,pl
@@ -3230,7 +3205,6 @@ objs/apps/earphone/earphone.c.o
 -r=objs/apps/earphone/earphone.c.o,tone_play_index,l
 -r=objs/apps/earphone/earphone.c.o,app_earphone_key_event_handler,l
 -r=objs/apps/earphone/earphone.c.o,app_power_event_handler,l
--r=objs/apps/earphone/earphone.c.o,app_umidigi_chargestore_event_handler,l
 -r=objs/apps/earphone/earphone.c.o,app_testbox_event_handler,l
 -r=objs/apps/earphone/earphone.c.o,rcsp_sys_event_handler_specific,l
 -r=objs/apps/earphone/earphone.c.o,get_tone_config,l
@@ -3276,7 +3250,6 @@ objs/apps/earphone/idle.c.o
 -r=objs/apps/earphone/idle.c.o,get_ui_busy_status,l
 -r=objs/apps/earphone/idle.c.o,dac_power_off,l
 -r=objs/apps/earphone/idle.c.o,power_set_soft_poweroff,l
--r=objs/apps/earphone/idle.c.o,app_umidigi_chargestore_event_handler,l
 -r=objs/apps/earphone/idle.c.o,app_testbox_event_handler,l
 -r=objs/apps/earphone/idle.c.o,default_event_handler,l
 -r=objs/apps/earphone/idle.c.o,log_tag_const_i_APP_IDLE,l
@@ -4194,42 +4167,6 @@ objs/apps/earphone/power_manage/app_power_manage.c.o
 -r=objs/apps/earphone/power_manage/app_power_manage.c.o,log_tag_const_i_APP_POWER,l
 -r=objs/apps/earphone/power_manage/app_power_manage.c.o,VBAT_STATUS,pl
 objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_power_level,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,get_charge_online_flag,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_power_status,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_cover_status,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_get_earphone_online,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_bt_init_ok,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_sync_chg_level,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_sibling_chg_lev,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_power_level,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_check_going_to_poweroff,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_phone_disconnect,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,bt_ble_adv_ioctl,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_set_phone_connect,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_timeout_deal,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,get_current_app,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,strcmp,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_enter_soft_poweroff,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,tws_api_get_role,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,app_umidigi_chargestore_event_handler,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,log_print,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,user_send_cmd_prepare,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_timeout_add,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_timer_modify,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,umidigi_chargestore_event_to_user,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,sys_event_notify,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,app_umidigi_chargetore_message_deal,pl
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,testbox_get_status,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,p33_soft_reset,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,get_vbat_need_shutdown,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,power_set_mode,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,vbat_check_init,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,task_switch,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,puts,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,log_tag_const_i_APP_UMIDIGI_CHARGESTORE,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,log_tag_const_e_APP_UMIDIGI_CHARGESTORE,l
--r=objs/apps/earphone/power_manage/app_umidigi_chargestore.c.o,app_var,l
 objs/apps/earphone/rcsp/jl_phone_app.c.o
 -r=objs/apps/earphone/rcsp/jl_phone_app.c.o,jl_phone_app_init,pl
 -r=objs/apps/earphone/rcsp/jl_phone_app.c.o,bt_music_info_handle_register,l
@@ -4359,6 +4296,7 @@ objs/apps/earphone/user_cfg.c.o
 -r=objs/apps/earphone/user_cfg.c.o,lp_winsize,pl
 -r=objs/apps/earphone/user_cfg.c.o,__VERSION_BEGIN,
 -r=objs/apps/earphone/user_cfg.c.o,log_tag_const_i_USER_CFG,l
+-r=objs/apps/earphone/user_cfg.c.o,xt_ble_new_name,l
 -r=objs/apps/earphone/user_cfg.c.o,log_tag_const_d_USER_CFG,l
 -r=objs/apps/earphone/user_cfg.c.o,app_var,l
 -r=objs/apps/earphone/user_cfg.c.o,status_config,l
@@ -4680,7 +4618,6 @@ objs/cpu/br28/audio_dec.c.o
 -r=objs/cpu/br28/audio_dec.c.o,mic_trim_run,pl
 -r=objs/cpu/br28/audio_dec.c.o,audio_dec_init,pl
 -r=objs/cpu/br28/audio_dec.c.o,tone_play_init,l
--r=objs/cpu/br28/audio_dec.c.o,audio_key_tone_init,l
 -r=objs/cpu/br28/audio_dec.c.o,audio_decoder_task_create,l
 -r=objs/cpu/br28/audio_dec.c.o,request_irq,l
 -r=objs/cpu/br28/audio_dec.c.o,sound_pcm_driver_init,l
@@ -5452,6 +5389,7 @@ objs/cpu/br28/iic_hw.c.o
 -r=objs/cpu/br28/iic_hw.c.o,hw_iic_suspend,pl
 -r=objs/cpu/br28/iic_hw.c.o,hw_iic_resume,pl
 -r=objs/cpu/br28/iic_hw.c.o,hw_iic_init,pl
+-r=objs/cpu/br28/iic_hw.c.o,printf,l
 -r=objs/cpu/br28/iic_hw.c.o,hw_iic_uninit,pl
 -r=objs/cpu/br28/iic_hw.c.o,gpio_set_hd,l
 -r=objs/cpu/br28/iic_hw.c.o,gpio_set_pull_up,l
@@ -6243,11 +6181,6 @@ objs/cpu/br28/uart_dev.c.o
 -r=objs/cpu/br28/uart_dev.c.o,CONFIG_UART2_ENABLE_TX_DMA,pl
 -r=objs/cpu/br28/uart_dev.c.o,jiffies,l
 objs/cpu/br28/umidigi_chargestore.c.o
--r=objs/cpu/br28/umidigi_chargestore.c.o,umidigi_chargestore_message_callback,pl
--r=objs/cpu/br28/umidigi_chargestore.c.o,ldo_port_wakeup_to_cmessage,pl
--r=objs/cpu/br28/umidigi_chargestore.c.o,usr_timer_add,l
--r=objs/cpu/br28/umidigi_chargestore.c.o,gpio_read,l
--r=objs/cpu/br28/umidigi_chargestore.c.o,usr_timer_del,l
 objs/apps/common/colorful_lights/colorful_lights.c.o
 -r=objs/apps/common/colorful_lights/colorful_lights.c.o,colorful_lights_function,pl
 -r=objs/apps/common/colorful_lights/colorful_lights.c.o,sys_timeout_del,l
@@ -6271,6 +6204,7 @@ objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,close_BL,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,user_send_cmd_prepare,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,delay_2ms,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,xtell_set_ble_name,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,xtell_app_main,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,log_print,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_app_main.c.o,timer_get_ms,l
@@ -6290,10 +6224,16 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_send_event,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sys_event_notify,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,le_user_app_event_handler,pl
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_detection,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,i2c_scanner_probe,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,send_data_to_ble_client,l
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,stop_detection,l
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clear_speed,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,SL_SC7U22_Config,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,create_process,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,SC7U22_static_calibration,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,mmc5603nj_init,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bmp280_init,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_collect_fuc,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,BLE_send_fuc,l
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,close_process,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,printf,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clk_set,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,clk_get,l
@@ -6310,7 +6250,6 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bt_app_exit,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bt_hci_event_handler,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_power_event_handler,l
--r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_umidigi_chargestore_event_handler,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_testbox_event_handler,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,rcsp_sys_event_handler_specific,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,default_event_handler,l
@@ -6338,42 +6277,50 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,xtell_bl_state,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,bt_newname,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,xt_ble_new_name,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,SC7U22_init,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,MMC5603nj_init,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,BMP280_init,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,SC7U22_calibration_id,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,start_collect_fuc_id,pl
+-r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,BLE_send_fuc_id,pl
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,app_var,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,init_ok,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,config_btctler_mode,l
 -r=objs/apps/earphone/xtell_Sensor/xtell_handler.c.o,sniff_out,l
 objs/apps/earphone/xtell_Sensor/send_data.c.o
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,ble_send_data,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_sensor_data_task,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,test,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_static_calibration,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,set_SC7U22_Error_Flag,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_RawData_Read,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_processing_task,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,strlen,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,snprintf,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,Q_SL_SC7U22_Angle_Output,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,close_process,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,send_data_to_ble_client,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,printf,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gsensor_test,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sys_timer_del,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,start_collect_fuc,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,mmc5603nj_read_origin_data,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_read_originanl_data,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,sensor_processing_task,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_full,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_write,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_fuc,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_is_empty,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_read,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,xtell_task_create,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,soft_iic_init,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_set_direction,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_set_pull_up,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gpio_direction_output,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SL_SC7U22_Config,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,hw_iic_init,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,circle_buffer_init,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,create_process,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,gsensor_id,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,test_id,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_init,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_read_data,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,bmp280_test,pl
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_init,l
+-r=objs/apps/earphone/xtell_Sensor/send_data.c.o,SC7U22_calibration_id,l
 -r=objs/apps/earphone/xtell_Sensor/send_data.c.o,BLE_send_data,pl
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,KS_data,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,debug1,l
--r=objs/apps/earphone/xtell_Sensor/send_data.c.o,debug2,l
 objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_init,pl
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_write,pl
--r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_free_space,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_is_full,pl
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_read,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_is_empty,pl
 -r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_size,pl
+-r=objs/apps/earphone/xtell_Sensor/buffer/circle_buffer.c.o,circle_buffer_get_free_space,pl
 objs/apps/earphone/xtell_Sensor/sensor/LIS2DH12.c.o
 -r=objs/apps/earphone/xtell_Sensor/sensor/LIS2DH12.c.o,LIS2DH12_Check,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/LIS2DH12.c.o,LIS2DH12_read_data,pl
@@ -6400,6 +6347,7 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_I2c_Spi_Write,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_I2c_Spi_Read,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Check,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,printf,l
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Config,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_POWER_DOWN,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_SOFT_RESET,pl
@@ -6412,9 +6360,18 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,SL_SC7U22_Angle_Output,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,asinf,l
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atanf,l
--r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,get_calibration_state,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Original_SL_SC7U22_Angle_Output,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,atan2f,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,sqrtf,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,fabsf,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,get_SC7U22_Error_Flag,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,set_SC7U22_Error_Flag,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_SL_SC7U22_Angle_Output,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,gravity_sensor_command,l
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,_gravity_sensor_get_ndata,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,iic_write_result,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,iic_read_len,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,xt_Check_Flag,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle_dot,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,angle0,pl
@@ -6448,22 +6405,68 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_Accgyro,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Error_Accgyro,pl
 -r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Sum_Avg_Accgyro,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Kp,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Ki,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Q_dt,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Error_Mag_f,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Sum_Avg_Mag_f,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_AccGyro,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o,Temp_Mag,pl
 objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,clear_speed,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,start_detection,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,stop_detection,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,skiing_tracker_init,pl
+-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,q_remove_gravity_with_quaternion,pl
+-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,q_transform_to_world_with_quaternion,pl
+-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,forece_of_friction,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,skiing_tracker_update,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sqrtf,l
+-r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,printf,l
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sensor_processing_task,pl
--r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,SL_SC7U22_Angle_Output,l
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,fabsf,l
--r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,cosf,l
--r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,sinf,l
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,puts,l
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,debug2,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,KS_data,pl
 -r=objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o,debug1,pl
+objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o
+-r=objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o,ano_protocol_init,pl
+-r=objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o,ano_send_inertial_data,pl
+-r=objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o,ano_send_attitude_data,pl
+objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_get_pid,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_init,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,printf,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,os_time_dly,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_enable_continuous_mode,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_start_calibration,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_read_mag_data,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,os_time_get,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_disable_continuous_mode,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_get_temperature,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,mmc5603nj_read_origin_data,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,_gravity_sensor_get_ndata,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,gravity_sensor_command,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,puts,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o,cal_data,pl
+objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,bmp280_init,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,printf,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,os_time_dly,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,bmp280_read_data,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,bmp280_read_originanl_data,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,_gravity_sensor_get_ndata,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,gravity_sensor_command,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o,puts,l
+objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,MPU9250_Mag_Init,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,_gravity_sensor_get_ndata,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,printf,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,gravity_sensor_command,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,os_time_dly,l
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,MPU9250_Read_Mag_Raw,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,MPU9250_Read_Mag_uT,pl
+-r=objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o,puts,l
 cpu/br28/liba/cpu.a.llvm.19376.crc16.c
 -r=cpu/br28/liba/cpu.a.llvm.19376.crc16.c,__crc16_mutex_init,pl
 -r=cpu/br28/liba/cpu.a.llvm.19376.crc16.c,os_mutex_create,l

objs/apps/common/device/key/key_driver.c.d

@@ -88,7 +88,4 @@ objs/apps/common/device/key/key_driver.c.o: \
   include_lib/btctrler/classic/hci_lmp.h \
   include_lib/system/device\rdec_key.h \
   include_lib/driver/cpu/br28\asm/rdec.h \
-  include_lib/system/device\tent600_key.h \
-  apps/earphone/include\tone_player.h cpu/br28\tone_player_api.h \
-  cpu/br28/audio_config.h apps/common/audio\sine_make.h \
-  include_lib/system\debug.h
+  include_lib/system/device\tent600_key.h include_lib/system\debug.h

objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.d

@@ -1,7 +1,8 @@
-objs/apps/earphone//xtell_Sensor/app_main.c.o: \
-  apps/earphone//xtell_Sensor/app_main.c include_lib\system/includes.h \
-  include_lib/system/init.h include_lib/system/event.h \
-  include_lib/system/generic/typedef.h \
+objs/apps/earphone/xtell_Sensor/ano/ano_protocol.c.o: \
+  apps/earphone/xtell_Sensor/ano/ano_protocol.c \
+  apps/earphone/xtell_Sensor/ano/ano_protocol.h \
+  include_lib\system/includes.h include_lib/system/init.h \
+  include_lib/system/event.h include_lib/system/generic/typedef.h \
   include_lib/driver/cpu/br28\asm/cpu.h \
   include_lib/driver/cpu/br28\asm/br28.h \
   include_lib/driver/cpu/br28\asm/io_omap.h \
@@ -99,7 +100,7 @@ objs/apps/earphone//xtell_Sensor/app_main.c.o: \
   include_lib/driver/cpu/br28\asm/timer.h \
   include_lib/driver/cpu/br28\asm/rtc.h \
   include_lib/driver\device/sdio_host_init.h \
-  include_lib\btstack/btstack_task.h apps/earphone/include\app_config.h \
+  apps/earphone/include\app_config.h \
   apps/earphone/board/br28\board_config.h include_lib\media/audio_def.h \
   apps/earphone/board/br28/board_jl701n_demo_cfg.h \
   apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h \
@@ -123,14 +124,4 @@ objs/apps/earphone//xtell_Sensor/app_main.c.o: \
   C:/JL/pi32/pi32v2-include\stdlib.h \
   C:/JL/pi32/pi32v2-include\machine/stdlib.h \
   C:/JL/pi32/pi32v2-include\alloca.h \
-  include_lib/btctrler/classic/hci_lmp.h \
-  apps/earphone/include\app_action.h \
-  include_lib/driver/cpu/br28\asm/pwm_led.h \
-  apps/earphone/include\tone_player.h cpu/br28\tone_player_api.h \
-  cpu/br28/audio_config.h apps/common/audio\sine_make.h \
-  apps/earphone/include\app_main.h \
-  include_lib/driver/cpu/br28\asm/charge.h include_lib/update\update.h \
-  apps/earphone/include\app_power_manage.h \
-  apps/earphone/include\app_charge.h \
-  apps/common\dev_manager/dev_manager.h \
-  include_lib/update\update_loader_download.h include_lib/system\debug.h
+  include_lib/btctrler/classic/hci_lmp.h

objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.d

@@ -2,10 +2,8 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o: \
   apps/earphone/xtell_Sensor/calculate/skiing_tracker.c \
   apps/earphone/xtell_Sensor/calculate/skiing_tracker.h \
   apps/earphone/xtell_Sensor/calculate/../xtell.h \
-  apps/earphone/xtell_Sensor/calculate/../sensor/SC7U22.h \
-  apps/common/device\gSensor/gSensor_manage.h \
-  include_lib/system/generic\printf.h \
-  include_lib/system/generic/typedef.h \
+  include_lib\system/includes.h include_lib/system/init.h \
+  include_lib/system/event.h include_lib/system/generic/typedef.h \
   include_lib/driver/cpu/br28\asm/cpu.h \
   include_lib/driver/cpu/br28\asm/br28.h \
   include_lib/driver/cpu/br28\asm/io_omap.h \
@@ -15,7 +13,6 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o: \
   include_lib/driver/cpu/br28\asm/irq.h \
   include_lib/driver/cpu/br28\asm/hwi.h \
   include_lib/system\generic/printf.h include_lib\system/generic/log.h \
-  include_lib\system/generic/printf.h \
   include_lib/system\generic/errno-base.h \
   C:/JL/pi32/pi32v2-include\string.h C:/JL/pi32/pi32v2-include/_ansi.h \
   C:/JL/pi32/pi32v2-include\newlib.h \
@@ -33,48 +30,21 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o: \
   C:/JL/pi32/pi32v2-include\sys/types.h \
   C:/JL/pi32/pi32v2-include\sys/_stdint.h \
   C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.h \
-  include_lib/system/generic\cpu.h \
-  include_lib/driver/cpu/br28\asm/iic_hw.h \
-  include_lib/driver/cpu/br28\asm/iic_soft.h include_lib/system\timer.h \
-  include_lib/system/generic/list.h apps/earphone/include\app_config.h \
-  apps/earphone/board/br28\board_config.h include_lib\media/audio_def.h \
-  apps/earphone/board/br28/board_jl701n_demo_cfg.h \
-  apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h \
-  apps/common/device/usb\usb_std_class_def.h \
-  apps/earphone/board/br28/board_jl701n_btemitter_cfg.h \
-  apps/earphone/board/br28/board_jl701n_btemitter_global_build_cfg.h \
-  apps/earphone/board/br28/board_jl701n_anc_cfg.h \
-  apps/earphone/board/br28/board_jl701n_anc_global_build_cfg.h \
-  apps/earphone/board/br28/board_jl7016g_hybrid_cfg.h \
-  apps/earphone/board/br28/board_jl7016g_hybrid_global_build_cfg.h \
-  apps/earphone/board/br28/board_jl7018f_demo_cfg.h \
-  apps/earphone/board/br28/board_jl7018f_demo_global_build_cfg.h \
-  apps/common/device/usb\usb_common_def.h \
-  include_lib/btctrler\btcontroller_mode.h \
-  apps/earphone/include/user_cfg_id.h \
-  apps/common/config/include\bt_profile_cfg.h \
-  include_lib/btctrler\btcontroller_modules.h \
-  include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
-  C:/JL/pi32/pi32v2-include\stdint.h \
-  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
-  C:/JL/pi32/pi32v2-include\stdlib.h \
-  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
-  C:/JL/pi32/pi32v2-include\alloca.h \
-  include_lib/btctrler/classic/hci_lmp.h include_lib/system\event.h \
-  include_lib/system/generic/rect.h include_lib\system/includes.h \
-  include_lib/system/init.h include_lib/system/spinlock.h \
+  include_lib/system/generic/list.h include_lib/system/generic/rect.h \
+  include_lib/system/spinlock.h include_lib/system/generic\cpu.h \
   include_lib/system/generic\irq.h include_lib/system/task.h \
   include_lib/system/os/os_api.h include_lib/system\os/os_cpu.h \
   include_lib/system/generic\jiffies.h include_lib/system\os/os_error.h \
   include_lib/system\os/os_type.h include_lib/system\os/ucos_ii.h \
   include_lib/system\os/os_cfg.h include_lib/system\os/os_api.h \
-  include_lib/system/wait.h include_lib/system/app_core.h \
-  include_lib/system/app_msg.h include_lib/system/database.h \
-  include_lib/system/fs/fs.h include_lib/system\generic/ioctl.h \
-  include_lib/system\generic/atomic.h include_lib\system/sys_time.h \
-  include_lib/system/fs/fs_file_name.h include_lib/system/fs/sdfile.h \
-  include_lib/system/power_manage.h include_lib/system/syscfg_id.h \
-  include_lib/system/bank_switch.h include_lib/system/generic/includes.h \
+  include_lib/system/timer.h include_lib/system/wait.h \
+  include_lib/system/app_core.h include_lib/system/app_msg.h \
+  include_lib/system/database.h include_lib/system/fs/fs.h \
+  include_lib/system\generic/ioctl.h include_lib/system\generic/atomic.h \
+  include_lib\system/sys_time.h include_lib/system/fs/fs_file_name.h \
+  include_lib/system/fs/sdfile.h include_lib/system/power_manage.h \
+  include_lib/system/syscfg_id.h include_lib/system/bank_switch.h \
+  include_lib/system/generic/includes.h \
   include_lib/system/generic/ascii.h include_lib/system/generic/gpio.h \
   include_lib/driver/cpu/br28\asm/gpio.h \
   include_lib/system/generic/version.h include_lib/system/generic/lbuf.h \
@@ -131,4 +101,34 @@ objs/apps/earphone/xtell_Sensor/calculate/skiing_tracker.c.o: \
   include_lib/driver/cpu/br28\asm/timer.h \
   include_lib/driver/cpu/br28\asm/rtc.h \
   include_lib/driver\device/sdio_host_init.h \
-  C:/JL/pi32/pi32v2-include\math.h
+  C:/JL/pi32/pi32v2-include\math.h \
+  apps/earphone/xtell_Sensor/calculate/../sensor/SC7U22.h \
+  apps/common/device\gSensor/gSensor_manage.h \
+  include_lib/driver/cpu/br28\asm/iic_hw.h \
+  include_lib/driver/cpu/br28\asm/iic_soft.h \
+  apps/earphone/include\app_config.h \
+  apps/earphone/board/br28\board_config.h include_lib\media/audio_def.h \
+  apps/earphone/board/br28/board_jl701n_demo_cfg.h \
+  apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h \
+  apps/common/device/usb\usb_std_class_def.h \
+  apps/earphone/board/br28/board_jl701n_btemitter_cfg.h \
+  apps/earphone/board/br28/board_jl701n_btemitter_global_build_cfg.h \
+  apps/earphone/board/br28/board_jl701n_anc_cfg.h \
+  apps/earphone/board/br28/board_jl701n_anc_global_build_cfg.h \
+  apps/earphone/board/br28/board_jl7016g_hybrid_cfg.h \
+  apps/earphone/board/br28/board_jl7016g_hybrid_global_build_cfg.h \
+  apps/earphone/board/br28/board_jl7018f_demo_cfg.h \
+  apps/earphone/board/br28/board_jl7018f_demo_global_build_cfg.h \
+  apps/common/device/usb\usb_common_def.h \
+  include_lib/btctrler\btcontroller_mode.h \
+  apps/earphone/include/user_cfg_id.h \
+  apps/common/config/include\bt_profile_cfg.h \
+  include_lib/btctrler\btcontroller_modules.h \
+  include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\stdlib.h \
+  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
+  C:/JL/pi32/pi32v2-include\alloca.h \
+  include_lib/btctrler/classic/hci_lmp.h \
+  apps/earphone/xtell_Sensor/sensor/MMC56.h

objs/apps/earphone/xtell_Sensor/handler.c.d

@@ -1,184 +0,0 @@
-objs/apps/earphone//xtell_Sensor/handler.c.o: \
-  apps/earphone//xtell_Sensor/handler.c include_lib\system/includes.h \
-  include_lib/system/init.h include_lib/system/event.h \
-  include_lib/system/generic/typedef.h \
-  include_lib/driver/cpu/br28\asm/cpu.h \
-  include_lib/driver/cpu/br28\asm/br28.h \
-  include_lib/driver/cpu/br28\asm/io_omap.h \
-  include_lib/driver/cpu/br28\asm/io_imap.h \
-  include_lib/driver/cpu/br28\asm/csfr.h \
-  include_lib/driver/cpu/br28\asm/cache.h \
-  include_lib/driver/cpu/br28\asm/irq.h \
-  include_lib/driver/cpu/br28\asm/hwi.h \
-  include_lib/system\generic/printf.h include_lib\system/generic/log.h \
-  include_lib/system\generic/errno-base.h \
-  C:/JL/pi32/pi32v2-include\string.h C:/JL/pi32/pi32v2-include/_ansi.h \
-  C:/JL/pi32/pi32v2-include\newlib.h \
-  C:/JL/pi32/pi32v2-include\sys/config.h \
-  C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
-  C:/JL/pi32/pi32v2-include\sys/features.h \
-  C:/JL/pi32/pi32v2-include\sys/reent.h \
-  C:/JL/pi32/pi32v2-include\sys/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
-  C:/JL/pi32/pi32v2-include\sys/lock.h \
-  C:/JL/pi32/pi32v2-include\sys/cdefs.h \
-  C:/JL/pi32/pi32v2-include\sys/string.h \
-  C:/JL/pi32/pi32v2-include\strings.h \
-  C:/JL/pi32/pi32v2-include\sys/types.h \
-  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
-  C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.h \
-  include_lib/system/generic/list.h include_lib/system/generic/rect.h \
-  include_lib/system/spinlock.h include_lib/system/generic\cpu.h \
-  include_lib/system/generic\irq.h include_lib/system/task.h \
-  include_lib/system/os/os_api.h include_lib/system\os/os_cpu.h \
-  include_lib/system/generic\jiffies.h include_lib/system\os/os_error.h \
-  include_lib/system\os/os_type.h include_lib/system\os/ucos_ii.h \
-  include_lib/system\os/os_cfg.h include_lib/system\os/os_api.h \
-  include_lib/system/timer.h include_lib/system/wait.h \
-  include_lib/system/app_core.h include_lib/system/app_msg.h \
-  include_lib/system/database.h include_lib/system/fs/fs.h \
-  include_lib/system\generic/ioctl.h include_lib/system\generic/atomic.h \
-  include_lib\system/sys_time.h include_lib/system/fs/fs_file_name.h \
-  include_lib/system/fs/sdfile.h include_lib/system/power_manage.h \
-  include_lib/system/syscfg_id.h include_lib/system/bank_switch.h \
-  include_lib/system/generic/includes.h \
-  include_lib/system/generic/ascii.h include_lib/system/generic/gpio.h \
-  include_lib/driver/cpu/br28\asm/gpio.h \
-  include_lib/system/generic/version.h include_lib/system/generic/lbuf.h \
-  include_lib/system/generic/lbuf_lite.h \
-  include_lib/system/generic/circular_buf.h \
-  include_lib/system/generic/index.h \
-  include_lib/system/generic/debug_lite.h \
-  include_lib/system/device/includes.h \
-  include_lib/system/device/device.h \
-  include_lib/system\device/ioctl_cmds.h \
-  include_lib/system/device/key_driver.h \
-  include_lib/system/device/iokey.h include_lib/system/device/irkey.h \
-  include_lib/system/device/adkey.h \
-  include_lib/driver/cpu/br28\asm/adc_api.h \
-  include_lib/system/device/slidekey.h \
-  include_lib/system/device/touch_key.h \
-  include_lib/driver/cpu/br28\asm/plcnt.h \
-  include_lib/system/device/rdec_key.h \
-  include_lib/driver/cpu/br28\asm/rdec.h \
-  include_lib/driver/cpu/br28\asm/includes.h \
-  include_lib/driver/cpu/br28\asm/crc16.h \
-  include_lib/driver/cpu/br28\asm/clock.h \
-  include_lib/driver/cpu/br28\asm/clock_hw.h \
-  include_lib/driver/cpu/br28\asm/clock_define.h \
-  include_lib/driver/cpu/br28\asm/uart.h \
-  include_lib/driver\device/uart.h \
-  include_lib/driver/cpu/br28\asm/uart_dev.h \
-  include_lib/driver/cpu/br28\asm/spiflash.h \
-  include_lib/driver\device/spiflash.h \
-  include_lib/driver/cpu/br28\asm/power_interface.h \
-  include_lib/driver/cpu/br28\asm/power/p33.h \
-  include_lib/driver/cpu/br28/asm/power/p33_sfr.h \
-  include_lib/driver/cpu/br28/asm/power/p33_app.h \
-  include_lib/driver/cpu/br28/asm/power/p33_io_app.h \
-  include_lib/driver/cpu/br28/asm/power/rtc_app.h \
-  include_lib/driver/cpu/br28\asm/power/p11.h \
-  include_lib/driver/cpu/br28/asm/power/p11_csfr.h \
-  include_lib/driver/cpu/br28/asm/power/p11_sfr.h \
-  include_lib/driver/cpu/br28/asm/power/p11_io_omap.h \
-  include_lib/driver/cpu/br28/asm/power/p11_io_imap.h \
-  include_lib/driver/cpu/br28/asm/power/p11_app.h \
-  include_lib/driver/cpu/br28/asm/power/p11.h \
-  include_lib/driver/cpu/br28\asm/power/power_api.h \
-  include_lib/driver/cpu/br28\asm/power/power_port.h \
-  include_lib/driver/cpu/br28\asm/power/power_wakeup.h \
-  include_lib/driver/cpu/br28\asm/power/power_reset.h \
-  include_lib/driver/cpu/br28\asm/power/power_compat.h \
-  include_lib/driver/cpu/br28\asm/power/lp_ipc.h \
-  include_lib/driver/cpu/br28/asm/power/m2p_msg.h \
-  include_lib/driver/cpu/br28/asm/power/p2m_msg.h \
-  include_lib/driver/cpu/br28\asm/efuse.h \
-  include_lib/driver/cpu/br28\asm/wdt.h \
-  include_lib/driver/cpu/br28\asm/debug.h \
-  include_lib/driver/cpu/br28\asm/timer.h \
-  include_lib/driver/cpu/br28\asm/rtc.h \
-  include_lib/driver\device/sdio_host_init.h \
-  include_lib/media/media_new\media/includes.h \
-  include_lib/media/media_new\media/audio_decoder.h \
-  include_lib/media/media_new\media/audio_base.h \
-  include_lib/media/media_new\media/audio_encoder.h \
-  include_lib/media/media_new\media/mixer.h \
-  include_lib/media/media_new\media/automute.h \
-  include_lib\media/audio_stream.h \
-  include_lib/media/media_new/media/cpu/br28\asm/cpu_includes.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_adc.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_linein.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_src.h \
-  include_lib/media/media_new/media\audio_resample.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_src_base.h \
-  include_lib/media/media_new/media/cpu/br28/asm/dac.h \
-  include_lib/media/media_new\media/audio_cfifo.h \
-  include_lib/media/media_new/media/cpu/br28\asm/hw_eq.h \
-  include_lib\media/eq_func_define.h \
-  include_lib/media/media_new/media\application/eq_func_define.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_sub_system.h \
-  apps/earphone/include\tone_player.h apps/earphone/include/app_config.h \
-  apps/earphone/board/br28\board_config.h include_lib\media/audio_def.h \
-  apps/earphone/board/br28/board_jl701n_demo_cfg.h \
-  apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h \
-  apps/common/device/usb\usb_std_class_def.h \
-  apps/earphone/board/br28/board_jl701n_btemitter_cfg.h \
-  apps/earphone/board/br28/board_jl701n_btemitter_global_build_cfg.h \
-  apps/earphone/board/br28/board_jl701n_anc_cfg.h \
-  apps/earphone/board/br28/board_jl701n_anc_global_build_cfg.h \
-  apps/earphone/board/br28/board_jl7016g_hybrid_cfg.h \
-  apps/earphone/board/br28/board_jl7016g_hybrid_global_build_cfg.h \
-  apps/earphone/board/br28/board_jl7018f_demo_cfg.h \
-  apps/earphone/board/br28/board_jl7018f_demo_global_build_cfg.h \
-  apps/common/device/usb\usb_common_def.h \
-  include_lib/btctrler\btcontroller_mode.h \
-  apps/earphone/include/user_cfg_id.h \
-  apps/common/config/include\bt_profile_cfg.h \
-  apps/earphone/include\app_config.h \
-  include_lib/btctrler\btcontroller_modules.h \
-  include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
-  C:/JL/pi32/pi32v2-include\stdint.h \
-  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
-  C:/JL/pi32/pi32v2-include\stdlib.h \
-  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
-  C:/JL/pi32/pi32v2-include\alloca.h \
-  include_lib/btctrler/classic/hci_lmp.h cpu/br28\tone_player_api.h \
-  cpu/br28/audio_config.h apps/common/audio\sine_make.h \
-  apps/earphone/include\earphone.h apps/earphone/include\app_action.h \
-  apps/earphone/include\app_task.h include_lib\btstack/avctp_user.h \
-  include_lib/btstack/btstack_typedef.h \
-  include_lib\btstack/btstack_task.h \
-  include_lib\btctrler/btctrler_task.h \
-  include_lib\btstack/frame_queque.h include_lib/system\user_cfg.h \
-  apps/common/include\bt_common.h apps/earphone/include\bt_ble.h \
-  apps/earphone/include\bt_tws.h include_lib/btctrler\classic/tws_api.h \
-  include_lib/btctrler\classic/tws_event.h \
-  include_lib/btctrler\classic/tws_local_media_sync.h \
-  include_lib/btctrler\classic/tws_data_trans.h \
-  apps/earphone/include\pbg_user.h \
-  apps/earphone/include/key_event_deal.h include_lib\btstack/bluetooth.h \
-  include_lib/btstack/le/ble_data_types.h \
-  include_lib/btstack/le/ble_api.h include_lib/btstack/le/le_user.h \
-  include_lib/btstack/le/att.h include_lib/btstack/le/gatt.h \
-  include_lib/btstack/le/sm.h include_lib/btstack/btstack_event.h \
-  apps/common\colorful_lights/colorful_lights.h \
-  include_lib/driver/cpu/br28\asm/spi.h \
-  apps/earphone/include\app_chargestore.h \
-  apps/common\jl_kws/jl_kws_api.h \
-  include_lib/driver/cpu/br28\asm/charge.h \
-  apps/earphone/include\app_charge.h apps/earphone/include\ui_manage.h \
-  apps/earphone/include\app_umidigi_chargestore.h \
-  apps/earphone/include\app_testbox.h \
-  apps/earphone/include\app_online_cfg.h \
-  apps/earphone/include\app_main.h \
-  apps/earphone/include\app_power_manage.h \
-  apps/common/device\gSensor/gSensor_manage.h \
-  include_lib/driver/cpu/br28\asm/iic_hw.h \
-  include_lib/driver/cpu/br28\asm/iic_soft.h \
-  include_lib/driver/cpu/br28\asm/pwm_led.h \
-  apps/common/device\ir_sensor/ir_manage.h \
-  apps/common/device\in_ear_detect/in_ear_manage.h \
-  apps/earphone/include\vol_sync.h apps/earphone/include\bt_background.h \
-  apps/earphone/include\default_event_handler.h \
-  include_lib/system\debug.h

objs/apps/earphone/xtell_Sensor/send_data.c.d

@@ -134,28 +134,16 @@ objs/apps/earphone/xtell_Sensor/send_data.c.o: \
   apps/earphone/include\app_charge.h \
   apps/common\dev_manager/dev_manager.h \
   include_lib/update\update_loader_download.h \
-  apps/earphone/xtell_Sensor/sensor\LIS2DH12.h \
+  apps/earphone/xtell_Sensor/./sensor/SC7U22.h \
   apps/common/device\gSensor/gSensor_manage.h \
   include_lib/driver/cpu/br28\asm/iic_hw.h \
   include_lib/driver/cpu/br28\asm/iic_soft.h \
-  apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data\le_rcsp_adv_module.h \
-  apps/common/include\bt_common.h cpu/br28\audio_anc.h \
-  include_lib/media/media_new/media/cpu/br28\asm/anc.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_adc.h \
-  include_lib/media/media_new/media\anc_btspp.h \
-  include_lib/media/media_new/media\anc_uart.h \
-  apps/common/device\in_ear_detect/in_ear_manage.h \
-  cpu/br28/audio_anc_mult_scene.h apps/common/icsd/anc\icsd_anc_app.h \
-  include_lib/media/media_new/media/cpu/br28\asm/dac.h \
-  include_lib/media/media_new/media/cpu/br28/asm/audio_src.h \
-  include_lib\media/audio_stream.h \
-  include_lib/media/media_new\media/audio_base.h \
-  include_lib/media/media_new/media\audio_resample.h \
-  include_lib/media/media_new\media/audio_cfifo.h \
-  apps/common/icsd/anc/icsd_anc.h C:/JL/pi32/pi32v2-include\math.h \
-  apps/common/icsd/anc/icsd_anc_client_board.h \
-  cpu/br28/audio_anc_fade_ctr.h \
-  apps/earphone/xtell_Sensor/buffer\circle_buffer.h \
+  apps/earphone/xtell_Sensor/sensor/MMC56.h \
+  apps/earphone/xtell_Sensor/./buffer/circle_buffer.h \
   include_lib\btstack/avctp_user.h include_lib/btstack/btstack_typedef.h \
   apps/earphone/xtell_Sensor/calculate/skiing_tracker.h \
-  apps/earphone/xtell_Sensor/calculate/../xtell.h
+  apps/earphone/xtell_Sensor/calculate/../xtell.h \
+  C:/JL/pi32/pi32v2-include\math.h \
+  apps/earphone/xtell_Sensor/./ano/ano_protocol.h \
+  apps/earphone/xtell_Sensor/./sensor/BMP280.h \
+  apps/earphone/xtell_Sensor/./sensor/AK8963.h

objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.d

@@ -1,6 +1,11 @@
-objs/apps/earphone/xtell_Sensor/sensor/SCU722.c.o: \
-  apps/earphone/xtell_Sensor/sensor/SCU722.c \
-  apps/earphone/xtell_Sensor/sensor/SCU722.h \
+objs/apps/earphone/xtell_Sensor/sensor/AK8963.c.o: \
+  apps/earphone/xtell_Sensor/sensor/AK8963.c \
+  apps/earphone/xtell_Sensor/sensor/AK8963.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
+  C:/JL/pi32/pi32v2-include\sys/features.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
   apps/common/device\gSensor/gSensor_manage.h \
   include_lib/system/generic\printf.h \
   include_lib/system/generic/typedef.h \
@@ -19,17 +24,14 @@ objs/apps/earphone/xtell_Sensor/sensor/SCU722.c.o: \
   C:/JL/pi32/pi32v2-include\newlib.h \
   C:/JL/pi32/pi32v2-include\sys/config.h \
   C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
-  C:/JL/pi32/pi32v2-include\sys/features.h \
   C:/JL/pi32/pi32v2-include\sys/reent.h \
   C:/JL/pi32/pi32v2-include\sys/_types.h \
   C:/JL/pi32/pi32v2-include\machine/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
   C:/JL/pi32/pi32v2-include\sys/lock.h \
   C:/JL/pi32/pi32v2-include\sys/cdefs.h \
   C:/JL/pi32/pi32v2-include\sys/string.h \
   C:/JL/pi32/pi32v2-include\strings.h \
   C:/JL/pi32/pi32v2-include\sys/types.h \
-  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
   C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.h \
   include_lib/system/generic\cpu.h \
   include_lib/driver/cpu/br28\asm/iic_hw.h \
@@ -53,8 +55,6 @@ objs/apps/earphone/xtell_Sensor/sensor/SCU722.c.o: \
   apps/common/config/include\bt_profile_cfg.h \
   include_lib/btctrler\btcontroller_modules.h \
   include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
-  C:/JL/pi32/pi32v2-include\stdint.h \
-  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
   C:/JL/pi32/pi32v2-include\stdlib.h \
   C:/JL/pi32/pi32v2-include\machine/stdlib.h \
   C:/JL/pi32/pi32v2-include\alloca.h \
@@ -129,4 +129,5 @@ objs/apps/earphone/xtell_Sensor/sensor/SCU722.c.o: \
   include_lib/driver/cpu/br28\asm/timer.h \
   include_lib/driver/cpu/br28\asm/rtc.h \
   include_lib/driver\device/sdio_host_init.h \
-  C:/JL/pi32/pi32v2-include\math.h
+  C:/JL/pi32/pi32v2-include\math.h \
+  apps/earphone/xtell_Sensor/sensor/../xtell.h

objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.d

@@ -1,8 +1,22 @@
-objs/apps/earphone/xtell_Sensor/LIS2DH12.c.o: \
-  apps/earphone/xtell_Sensor/LIS2DH12.c \
-  apps/common/device\gSensor/gSensor_manage.h \
-  include_lib/system/generic\printf.h \
-  include_lib/system/generic/typedef.h \
+objs/apps/earphone/xtell_Sensor/sensor/BMP280.c.o: \
+  apps/earphone/xtell_Sensor/sensor/BMP280.c \
+  apps/earphone/xtell_Sensor/sensor/BMP280.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
+  C:/JL/pi32/pi32v2-include\sys/features.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
+  C:/JL/pi32/pi32v2-include\string.h C:/JL/pi32/pi32v2-include/_ansi.h \
+  C:/JL/pi32/pi32v2-include\newlib.h \
+  C:/JL/pi32/pi32v2-include\sys/config.h \
+  C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
+  C:/JL/pi32/pi32v2-include\sys/reent.h \
+  C:/JL/pi32/pi32v2-include\sys/_types.h \
+  C:/JL/pi32/pi32v2-include\machine/_types.h \
+  C:/JL/pi32/pi32v2-include\sys/lock.h \
+  C:/JL/pi32/pi32v2-include\sys/cdefs.h \
+  C:/JL/pi32/pi32v2-include\sys/string.h include_lib/system\os/os_api.h \
+  include_lib/system\generic/typedef.h \
   include_lib/driver/cpu/br28\asm/cpu.h \
   include_lib/driver/cpu/br28\asm/br28.h \
   include_lib/driver/cpu/br28\asm/io_omap.h \
@@ -11,25 +25,16 @@ objs/apps/earphone/xtell_Sensor/LIS2DH12.c.o: \
   include_lib/driver/cpu/br28\asm/cache.h \
   include_lib/driver/cpu/br28\asm/irq.h \
   include_lib/driver/cpu/br28\asm/hwi.h \
-  include_lib/system\generic/printf.h include_lib\system/generic/log.h \
-  include_lib\system/generic/printf.h \
+  include_lib/system\generic/printf.h \
+  include_lib/system/generic/typedef.h include_lib\system/generic/log.h \
   include_lib/system\generic/errno-base.h \
-  C:/JL/pi32/pi32v2-include\string.h C:/JL/pi32/pi32v2-include/_ansi.h \
-  C:/JL/pi32/pi32v2-include\newlib.h \
-  C:/JL/pi32/pi32v2-include\sys/config.h \
-  C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
-  C:/JL/pi32/pi32v2-include\sys/features.h \
-  C:/JL/pi32/pi32v2-include\sys/reent.h \
-  C:/JL/pi32/pi32v2-include\sys/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
-  C:/JL/pi32/pi32v2-include\sys/lock.h \
-  C:/JL/pi32/pi32v2-include\sys/cdefs.h \
-  C:/JL/pi32/pi32v2-include\sys/string.h \
   C:/JL/pi32/pi32v2-include\strings.h \
   C:/JL/pi32/pi32v2-include\sys/types.h \
-  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
   C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.h \
+  include_lib/system\os/os_cpu.h include_lib/system/generic\jiffies.h \
+  include_lib/system\os/os_error.h include_lib/system\os/os_type.h \
+  include_lib/system\os/ucos_ii.h include_lib/system\os/os_cfg.h \
+  apps/common/device\gSensor/gSensor_manage.h \
   include_lib/system/generic\cpu.h \
   include_lib/driver/cpu/br28\asm/iic_hw.h \
   include_lib/driver/cpu/br28\asm/iic_soft.h include_lib/system\timer.h \
@@ -52,8 +57,6 @@ objs/apps/earphone/xtell_Sensor/LIS2DH12.c.o: \
   apps/common/config/include\bt_profile_cfg.h \
   include_lib/btctrler\btcontroller_modules.h \
   include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
-  C:/JL/pi32/pi32v2-include\stdint.h \
-  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
   C:/JL/pi32/pi32v2-include\stdlib.h \
   C:/JL/pi32/pi32v2-include\machine/stdlib.h \
   C:/JL/pi32/pi32v2-include\alloca.h \
@@ -61,10 +64,6 @@ objs/apps/earphone/xtell_Sensor/LIS2DH12.c.o: \
   include_lib/system/generic/rect.h include_lib\system/includes.h \
   include_lib/system/init.h include_lib/system/spinlock.h \
   include_lib/system/generic\irq.h include_lib/system/task.h \
-  include_lib/system/os/os_api.h include_lib/system\os/os_cpu.h \
-  include_lib/system/generic\jiffies.h include_lib/system\os/os_error.h \
-  include_lib/system\os/os_type.h include_lib/system\os/ucos_ii.h \
-  include_lib/system\os/os_cfg.h include_lib/system\os/os_api.h \
   include_lib/system/wait.h include_lib/system/app_core.h \
   include_lib/system/app_msg.h include_lib/system/database.h \
   include_lib/system/fs/fs.h include_lib/system\generic/ioctl.h \
@@ -127,24 +126,4 @@ objs/apps/earphone/xtell_Sensor/LIS2DH12.c.o: \
   include_lib/driver/cpu/br28\asm/debug.h \
   include_lib/driver/cpu/br28\asm/timer.h \
   include_lib/driver/cpu/br28\asm/rtc.h \
-  include_lib/driver\device/sdio_host_init.h \
-  C:/JL/pi32/pi32v2-include\math.h apps/earphone/xtell_Sensor/LIS2DH12.h \
-  apps/common/third_party_profile/jieli/JL_rcsp/bt_trans_data\le_rcsp_adv_module.h \
-  apps/common/include\bt_common.h cpu/br28\audio_anc.h \
-  include_lib/media/media_new/media/cpu/br28\asm/anc.h \
-  include_lib/media/media_new/media/cpu/br28\asm/audio_adc.h \
-  include_lib/media/media_new/media\anc_btspp.h \
-  include_lib/media/media_new/media\anc_uart.h \
-  apps/common/device\in_ear_detect/in_ear_manage.h \
-  cpu/br28/audio_anc_mult_scene.h apps/common/icsd/anc\icsd_anc_app.h \
-  include_lib/media/media_new/media/cpu/br28\asm/dac.h \
-  include_lib/media/media_new/media/cpu/br28/asm/audio_src.h \
-  include_lib\media/audio_stream.h \
-  include_lib/media/media_new\media/audio_base.h \
-  include_lib/media/media_new/media\audio_resample.h \
-  include_lib/media/media_new\media/audio_cfifo.h \
-  apps/common/icsd/anc/icsd_anc.h \
-  apps/common/icsd/anc/icsd_anc_client_board.h \
-  cpu/br28/audio_anc_fade_ctr.h \
-  apps/common\colorful_lights/colorful_lights.h \
-  include_lib/driver/cpu/br28\asm/spi.h
+  include_lib/driver\device/sdio_host_init.h

objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.d

@@ -1,8 +1,19 @@
-objs/apps/earphone//xtell_Sensor/circle_buffer.c.o: \
-  apps/earphone//xtell_Sensor/circle_buffer.c \
-  apps/earphone//xtell_Sensor/circle_buffer.h \
-  include_lib\system/includes.h include_lib/system/init.h \
-  include_lib/system/event.h include_lib/system/generic/typedef.h \
+objs/apps/earphone/xtell_Sensor/sensor/MMC56.c.o: \
+  apps/earphone/xtell_Sensor/sensor/MMC56.c \
+  apps/earphone/xtell_Sensor/sensor/MMC56.h \
+  C:/JL/pi32/pi32v2-include\stdint.h \
+  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
+  C:/JL/pi32/pi32v2-include\sys/features.h \
+  C:/JL/pi32/pi32v2-include\sys/_intsup.h \
+  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
+  C:/JL/pi32/pi32v2-include\math.h C:/JL/pi32/pi32v2-include\sys/reent.h \
+  C:/JL/pi32/pi32v2-include\_ansi.h C:/JL/pi32/pi32v2-include\newlib.h \
+  C:/JL/pi32/pi32v2-include\sys/config.h \
+  C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
+  C:/JL/pi32/pi32v2-include\sys/_types.h \
+  C:/JL/pi32/pi32v2-include\machine/_types.h \
+  C:/JL/pi32/pi32v2-include\sys/lock.h include_lib/system\os/os_api.h \
+  include_lib/system\generic/typedef.h \
   include_lib/driver/cpu/br28\asm/cpu.h \
   include_lib/driver/cpu/br28\asm/br28.h \
   include_lib/driver/cpu/br28\asm/io_omap.h \
@@ -11,39 +22,31 @@ objs/apps/earphone//xtell_Sensor/circle_buffer.c.o: \
   include_lib/driver/cpu/br28\asm/cache.h \
   include_lib/driver/cpu/br28\asm/irq.h \
   include_lib/driver/cpu/br28\asm/hwi.h \
-  include_lib/system\generic/printf.h include_lib\system/generic/log.h \
+  include_lib/system\generic/printf.h \
+  include_lib/system/generic/typedef.h include_lib\system/generic/log.h \
   include_lib/system\generic/errno-base.h \
-  C:/JL/pi32/pi32v2-include\string.h C:/JL/pi32/pi32v2-include/_ansi.h \
-  C:/JL/pi32/pi32v2-include\newlib.h \
-  C:/JL/pi32/pi32v2-include\sys/config.h \
-  C:/JL/pi32/pi32v2-include\machine/ieeefp.h \
-  C:/JL/pi32/pi32v2-include\sys/features.h \
-  C:/JL/pi32/pi32v2-include\sys/reent.h \
-  C:/JL/pi32/pi32v2-include\sys/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_types.h \
-  C:/JL/pi32/pi32v2-include\machine/_default_types.h \
-  C:/JL/pi32/pi32v2-include\sys/lock.h \
+  C:/JL/pi32/pi32v2-include\string.h \
   C:/JL/pi32/pi32v2-include\sys/cdefs.h \
   C:/JL/pi32/pi32v2-include\sys/string.h \
   C:/JL/pi32/pi32v2-include\strings.h \
   C:/JL/pi32/pi32v2-include\sys/types.h \
-  C:/JL/pi32/pi32v2-include\sys/_stdint.h \
   C:/JL/pi32/pi32v2-include\machine/types.h include_lib\system/malloc.h \
-  include_lib/system/generic/list.h include_lib/system/generic/rect.h \
-  include_lib/system/spinlock.h include_lib/system/generic\cpu.h \
-  include_lib/system/generic\irq.h include_lib/system/task.h \
-  include_lib/system/os/os_api.h include_lib/system\os/os_cpu.h \
-  include_lib/system/generic\jiffies.h include_lib/system\os/os_error.h \
-  include_lib/system\os/os_type.h include_lib/system\os/ucos_ii.h \
-  include_lib/system\os/os_cfg.h include_lib/system\os/os_api.h \
-  include_lib/system/timer.h include_lib/system/wait.h \
-  include_lib/system/app_core.h include_lib/system/app_msg.h \
-  include_lib/system/database.h include_lib/system/fs/fs.h \
-  include_lib/system\generic/ioctl.h include_lib/system\generic/atomic.h \
-  include_lib\system/sys_time.h include_lib/system/fs/fs_file_name.h \
-  include_lib/system/fs/sdfile.h include_lib/system/power_manage.h \
-  include_lib/system/syscfg_id.h include_lib/system/bank_switch.h \
-  include_lib/system/generic/includes.h \
+  include_lib/system\os/os_cpu.h include_lib/system/generic\jiffies.h \
+  include_lib/system\os/os_error.h include_lib/system\os/os_type.h \
+  include_lib/system\os/ucos_ii.h include_lib/system\os/os_cfg.h \
+  apps/earphone/xtell_Sensor/sensor/../xtell.h \
+  include_lib\system/includes.h include_lib/system/init.h \
+  include_lib/system/event.h include_lib/system/generic/list.h \
+  include_lib/system/generic/rect.h include_lib/system/spinlock.h \
+  include_lib/system/generic\cpu.h include_lib/system/generic\irq.h \
+  include_lib/system/task.h include_lib/system/timer.h \
+  include_lib/system/wait.h include_lib/system/app_core.h \
+  include_lib/system/app_msg.h include_lib/system/database.h \
+  include_lib/system/fs/fs.h include_lib/system\generic/ioctl.h \
+  include_lib/system\generic/atomic.h include_lib\system/sys_time.h \
+  include_lib/system/fs/fs_file_name.h include_lib/system/fs/sdfile.h \
+  include_lib/system/power_manage.h include_lib/system/syscfg_id.h \
+  include_lib/system/bank_switch.h include_lib/system/generic/includes.h \
   include_lib/system/generic/ascii.h include_lib/system/generic/gpio.h \
   include_lib/driver/cpu/br28\asm/gpio.h \
   include_lib/system/generic/version.h include_lib/system/generic/lbuf.h \
@@ -99,4 +102,30 @@ objs/apps/earphone//xtell_Sensor/circle_buffer.c.o: \
   include_lib/driver/cpu/br28\asm/debug.h \
   include_lib/driver/cpu/br28\asm/timer.h \
   include_lib/driver/cpu/br28\asm/rtc.h \
-  include_lib/driver\device/sdio_host_init.h
+  include_lib/driver\device/sdio_host_init.h \
+  apps/common/device\gSensor/gSensor_manage.h \
+  include_lib/driver/cpu/br28\asm/iic_hw.h \
+  include_lib/driver/cpu/br28\asm/iic_soft.h \
+  apps/earphone/include\app_config.h \
+  apps/earphone/board/br28\board_config.h include_lib\media/audio_def.h \
+  apps/earphone/board/br28/board_jl701n_demo_cfg.h \
+  apps/earphone/board/br28/board_jl701n_demo_global_build_cfg.h \
+  apps/common/device/usb\usb_std_class_def.h \
+  apps/earphone/board/br28/board_jl701n_btemitter_cfg.h \
+  apps/earphone/board/br28/board_jl701n_btemitter_global_build_cfg.h \
+  apps/earphone/board/br28/board_jl701n_anc_cfg.h \
+  apps/earphone/board/br28/board_jl701n_anc_global_build_cfg.h \
+  apps/earphone/board/br28/board_jl7016g_hybrid_cfg.h \
+  apps/earphone/board/br28/board_jl7016g_hybrid_global_build_cfg.h \
+  apps/earphone/board/br28/board_jl7018f_demo_cfg.h \
+  apps/earphone/board/br28/board_jl7018f_demo_global_build_cfg.h \
+  apps/common/device/usb\usb_common_def.h \
+  include_lib/btctrler\btcontroller_mode.h \
+  apps/earphone/include/user_cfg_id.h \
+  apps/common/config/include\bt_profile_cfg.h \
+  include_lib/btctrler\btcontroller_modules.h \
+  include_lib/btctrler/hci_transport.h include_lib/btctrler/ble/hci_ll.h \
+  C:/JL/pi32/pi32v2-include\stdlib.h \
+  C:/JL/pi32/pi32v2-include\machine/stdlib.h \
+  C:/JL/pi32/pi32v2-include\alloca.h \
+  include_lib/btctrler/classic/hci_lmp.h

objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.d

@@ -129,4 +129,6 @@ objs/apps/earphone/xtell_Sensor/sensor/SC7U22.c.o: \
   include_lib/driver/cpu/br28\asm/timer.h \
   include_lib/driver/cpu/br28\asm/rtc.h \
   include_lib/driver\device/sdio_host_init.h \
-  C:/JL/pi32/pi32v2-include\math.h
+  apps/earphone/xtell_Sensor/sensor/MMC56.h \
+  C:/JL/pi32/pi32v2-include\math.h \
+  apps/earphone/xtell_Sensor/sensor/../xtell.h

objs/apps/earphone/xtell_Sensor/xtell_handler.c.d

@@ -181,4 +181,11 @@ objs/apps/earphone/xtell_Sensor/xtell_handler.c.o: \
   apps/common/device\in_ear_detect/in_ear_manage.h \
   apps/earphone/include\vol_sync.h apps/earphone/include\bt_background.h \
   apps/earphone/include\default_event_handler.h \
-  include_lib/system\debug.h
+  include_lib/system\debug.h \
+  apps/earphone/xtell_Sensor/./ano/ano_protocol.h \
+  apps/earphone/xtell_Sensor/./sensor/MMC56.h \
+  apps/earphone/xtell_Sensor/./sensor/BMP280.h \
+  apps/earphone/xtell_Sensor/./sensor/AK8963.h \
+  apps/earphone/xtell_Sensor/./calculate/skiing_tracker.h \
+  apps/earphone/xtell_Sensor/calculate/../xtell.h \
+  C:/JL/pi32/pi32v2-include\math.h