diff --git a/Module/lsm6dsl/lsm6dsl_app.c b/Module/lsm6dsl/lsm6dsl_app.c
index 8eee0a7..4f598fd 100644
--- a/Module/lsm6dsl/lsm6dsl_app.c
+++ b/Module/lsm6dsl/lsm6dsl_app.c
@@ -1,4 +1,4 @@
-
+
 /* Includes ------------------------------------------------------------------*/
 #include "lsm6dsl_app.h"
 #include "lsm6dsl_reg.h"
@@ -13,31 +13,24 @@
 dev_ctx_t dev_ctx;
 static bool InitFlag;
 
-#define	ACC_CVTTIME						(20 * 1000)
-#define	ACC_COLL_CNT_MAX			6
-#define	ACC_FIFO_WATERMASK		(ACC_COLL_CNT_MAX * 6)			//采集一秒数据
-#define	TX_BUF_DIM          	1000
+#define	ACC_COLL_CNT_MAX			4								//ÿ��ƽ��������,�������=ODR/4=13Hz
+#define	ACC_FIFO_WATERMASK		(ACC_COLL_CNT_MAX * 6)			//FIFOˮӡ:4�� �� (3����+3���ٶ�)=24
 #define	BOOT_TIME          		15 //ms
 
 typedef enum {
 	Acc_Idle,
-	Acc_Start,
-	Acc_Get_Data,
-	Acc_Wait_GetData,
-	Acc_Go_Bypass,
+	Acc_Get_Data,			//�����ɼ�������
 }AccStatusType_m;
 
 static AccStatusType_m acc_status;
 static uint32_t acc_cvttime;
 static bool Lsm6dslWaterMarkFullIntFlag;
 static bool Lsm6dslWakeupIntFlag;
+static uint16_t Lsm6dslIntWatchdog;		//�����ݿ��Ź�����(1ms)
+static bool Lsm6dslRecoverReq;			//�Իָ�����(1ms��λ,��ѭ��ִ��)
 
-static int16_t data_raw_acceleration[3];
-static int16_t data_raw_angular_rate[3];
-static int16_t data_raw_temperature;
 static float acceleration_mg[3][ACC_COLL_CNT_MAX];
 static float angular_rate_mdps[3][ACC_COLL_CNT_MAX];
-static float temperature_degC;
 static uint8_t whoamI, rst;
 
 
@@ -60,6 +53,57 @@ static void platform_read(uint8_t reg, uint8_t *bufp, uint32_t len)
 	I2C_MasterReadData(M0P_I2C0, Selve_Add, reg, bufp, len);
 }
 
+/*****************************************************************************************
+* ��������: Lsm6dsl_Config
+* ��������: LSM6DSL�Ĵ�������,������ɺ��������ɼ�(����,������͹���)
+* ��    ��: ��
+* �� �� ֵ: ��
+*****************************************************************************************/
+static void Lsm6dsl_Config(void)
+{
+  /* Restore default configuration */
+  lsm6dsl_reset_set(&dev_ctx, PROPERTY_ENABLE);
+
+  do {
+    lsm6dsl_reset_get(&dev_ctx, &rst);
+  } while (rst);
+
+  /* ������ģʽ(����������,�������) */
+  lsm6dsl_xl_power_mode_set(&dev_ctx, LSM6DSL_XL_HIGH_PERFORMANCE);
+  lsm6dsl_gy_power_mode_set(&dev_ctx, LSM6DSL_GY_HIGH_PERFORMANCE);
+  /* Enable Block Data Update */
+  lsm6dsl_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
+  /* Set full scale */
+  lsm6dsl_xl_full_scale_set(&dev_ctx, LSM6DSL_2g);
+  lsm6dsl_gy_full_scale_set(&dev_ctx, LSM6DSL_500dps);
+  /* Configure filtering chain(No aux interface) */
+  /* Accelerometer - analog filter */
+  lsm6dsl_xl_filter_analog_set(&dev_ctx, LSM6DSL_XL_ANA_BW_400Hz);
+  /* Accelerometer - LPF1 + LPF2 path */
+  lsm6dsl_xl_lp2_bandwidth_set(&dev_ctx, LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_9);
+  /* Gyroscope - filtering chain */
+  lsm6dsl_gy_band_pass_set(&dev_ctx, LSM6DSL_HP_260mHz_LP1_STRONG);
+
+  /* FIFO:������ģʽ,����ˮӡ�����жϵ���ͣ�� */
+  lsm6dsl_fifo_xl_batch_set(&dev_ctx, LSM6DSL_FIFO_XL_NO_DEC);		//fifo���ٶ�д��Ƶ������
+  lsm6dsl_fifo_gy_batch_set(&dev_ctx, LSM6DSL_FIFO_GY_NO_DEC);		//fifo������д��Ƶ������
+  lsm6dsl_fifo_data_rate_set(&dev_ctx, LSM6DSL_FIFO_52Hz);			//FIFO ODRѡ��,�봫����ODRһ��
+  lsm6dsl_fifo_watermark_set(&dev_ctx, ACC_FIFO_WATERMASK);			//FIFOˮӡ��ƽ����,4������
+  lsm6dsl_fifo_stop_on_wtm_set(&dev_ctx, 0);						//����ˮӡ������ɼ�,��ͣ
+  lsm6dsl_block_data_update_set(&dev_ctx, 1);						//fifoģʽctrl3_c bdu����Ϊ1
+  lsm6dsl_auto_increment_set(&dev_ctx, 1);							//fifoģʽctrl3_c if_inc����Ϊ1
+
+  /* �ж�1:FIFOˮӡ��ֵ�ж� */
+  lsm6dsl_int1_route_t int1val ={0, 0, 0};
+  int1val.int1_fth = 1;			//FIFO�洢�ﵽˮӡ���ʱ����
+  lsm6dsl_pin_int1_route_set(&dev_ctx, int1val);
+
+  /* �����ODR��FIFO����ģʽ,��֤�����ú���� */
+  lsm6dsl_fifo_mode_set(&dev_ctx, LSM6DSL_STREAM_MODE);
+  lsm6dsl_xl_data_rate_set(&dev_ctx, LSM6DSL_XL_ODR_52Hz);
+  lsm6dsl_gy_data_rate_set(&dev_ctx, LSM6DSL_GY_ODR_52Hz);
+}
+
 static void Lsm6dsl_Init(void)
 {
   /* Initialize mems driver interface */
@@ -72,7 +116,7 @@ static void Lsm6dsl_Init(void)
   whoamI = 0;
   lsm6dsl_device_id_get(&dev_ctx, &whoamI);
   acc_cvttime = 100;
-  while(whoamI != LSM6DSL_ID){ 
+  while(whoamI != LSM6DSL_ID){
 		if(acc_cvttime <= 0){
 			DBG_LOG("LSM6DS INIT Err...\r\n"); /*manage here device not found */
 			InitFlag = false;
@@ -80,104 +124,49 @@ static void Lsm6dsl_Init(void)
 		}
 	}
 
-  /* Restore default configuration */
-  lsm6dsl_reset_set(&dev_ctx, PROPERTY_ENABLE);
-
-  do {
-    lsm6dsl_reset_get(&dev_ctx, &rst);
-  } while (rst);
-
-  lsm6dsl_xl_power_mode_set(&dev_ctx, LSM6DSL_XL_NORMAL);
-  /* Enable Block Data Update */
-  lsm6dsl_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
-  /* Set Output Data Rate */
-  lsm6dsl_xl_data_rate_set(&dev_ctx, LSM6DSL_XL_ODR_12Hz5);
-  lsm6dsl_gy_data_rate_set(&dev_ctx, LSM6DSL_GY_ODR_12Hz5);
-  //lsm6dsl_gy_data_rate_set(&left_dev_ctx, LSM6DSL_GY_ODR_OFF);			//关闭地磁
-  /* Set full scale */
-  lsm6dsl_xl_full_scale_set(&dev_ctx, LSM6DSL_2g);
-  lsm6dsl_gy_full_scale_set(&dev_ctx, LSM6DSL_2000dps);
-  /* Configure filtering chain(No aux interface) */
-  /* Accelerometer - analog filter */
-  lsm6dsl_xl_filter_analog_set(&dev_ctx, LSM6DSL_XL_ANA_BW_400Hz);
-  /* Accelerometer - LPF1 path ( LPF2 not used )*/
-  /*lsm6dsl_xl_lp1_bandwidth_set(&left_dev_ctx, LSM6DSL_XL_LP1_ODR_DIV_4);*/
-  /* Accelerometer - LPF1 + LPF2 path */
-  lsm6dsl_xl_lp2_bandwidth_set(&dev_ctx, LSM6DSL_XL_LOW_NOISE_LP_ODR_DIV_9);
-  /* Accelerometer - High Pass / Slope path */
-  /*lsm6dsl_xl_reference_mode_set(&left_dev_ctx, PROPERTY_DISABLE);*/
-  /*lsm6dsl_xl_hp_bandwidth_set(&left_dev_ctx, LSM6DSL_XL_HP_ODR_DIV_100);*/
-  /* Gyroscope - filtering chain */
-  lsm6dsl_gy_band_pass_set(&dev_ctx, LSM6DSL_HP_260mHz_LP1_STRONG);
-	
-	//fifo模式设置
-	lsm6dsl_fifo_xl_batch_set(&dev_ctx, LSM6DSL_FIFO_XL_NO_DEC);//fifo加速度写入频率设置
-	lsm6dsl_fifo_gy_batch_set(&dev_ctx, LSM6DSL_FIFO_GY_NO_DEC);//fifo陀螺仪写入频率设置
-	lsm6dsl_fifo_data_rate_set(&dev_ctx, LSM6DSL_FIFO_12Hz5);//FIFO ODR选择
-	
-	//中断1设置，watermark full中断
-	lsm6dsl_int1_route_t int1val ={0, 0, 0};
-	int1val.int1_full_flag = 1;		//开阀值中断，fifo存储到缓存深度时触发
-	lsm6dsl_pin_int1_route_set(&dev_ctx, int1val);	
-	lsm6dsl_fifo_watermark_set(&dev_ctx, ACC_FIFO_WATERMASK);//FIFO水印电平设置，阈值设置，缓存深度
-	lsm6dsl_fifo_stop_on_wtm_set(&dev_ctx, 1);//fifo缓存深度存满时，不再存储
-	//lsm6dsl_fifo_xl_gy_8bit_format_set(&left_dev_ctx, 1);//在FIFO中为XL和陀螺启用MSByte记忆，缓存宽度
-	lsm6dsl_block_data_update_set(&dev_ctx, 1);			//fifo模式ctrl3_c bdu必须为1,直到读取MSB和LSB后才更新输出寄存器
-	lsm6dsl_auto_increment_set(&dev_ctx, 1);				//fifo模式ctrl3_c if_inc必须为1,通过串行接口(I2C或SPI)进行多字节访问时自动增加寄存器地址。
-	lsm6dsl_ctrl3_c_t ctrl3_c;
-	platform_read(LSM6DSL_CTRL3_C, (uint8_t *)&ctrl3_c, 1);
-	//lsm6dsl_fifo_mode_set(&dev_ctx, LSM6DSL_FIFO_MODE);
-	
-	//中断2设置，唤醒中断
-//	uint8_t temp = 0x90;		//唤醒中断
-//	platform_write(LSM6DSL_TAP_CFG, &temp, 1);	
-//	temp = 0;
-//	platform_write(LSM6DSL_WAKE_UP_DUR, &temp, 1);
-//	lsm6dsl_wkup_threshold_set(&left_dev_ctx, 0x20);
-//	lsm6dsl_int2_route_t int2val ={0, 0, 0};
-//	int2val.int2_wu = 1;
-//	lsm6dsl_pin_int2_route_set(&left_dev_ctx, int2val);	
+  Lsm6dsl_Config();
 
 	if(InitFlag == false){
-		DBG_LOG("LSM6DS INIT OK...\r\n"); 
+		DBG_LOG("LSM6DS INIT OK...\r\n");
 		InitFlag = true;
-	} 
+	}
 }
 
 extern void Lsm6dDataProcessCallBack(float *Acc, float *Gy);
 static void Acc_IntHandler(void)
 {
 	uint16_t DiffFifo;
+	uint16_t Sets;
+	uint8_t Cnt;
+	uint8_t Slot;
+	uint16_t i;
 	AccGyData_t AccGy;
-	AccData_t Acc;
-	float VectorG;
 	float AverageAcc[XYZ], AverageGy[XYZ];
-	
+
 	lsm6dsl_fifo_data_level_get(&dev_ctx, &DiffFifo);
-	if(DiffFifo == 0) {
+	if(DiffFifo < ACC_FIFO_WATERMASK) {
 		return;
 	}
-	
-	if(DiffFifo > ACC_FIFO_WATERMASK)
-		DiffFifo = ACC_FIFO_WATERMASK;
-	for(int i = 0; i < DiffFifo / 6; i++) {
+
+	Sets = DiffFifo / 6;
+	for(i = 0; i < Sets; i++) {
 		lsm6dsl_fifo_raw_data_get(&dev_ctx, (uint8_t *)&AccGy, sizeof(AccGy));
-		angular_rate_mdps[X][i] = lsm6dsl_from_fs2000dps_to_mdps(AccGy.GyX);
-		angular_rate_mdps[Y][i] = lsm6dsl_from_fs2000dps_to_mdps(AccGy.GyY);
-		angular_rate_mdps[Z][i] = lsm6dsl_from_fs2000dps_to_mdps(AccGy.GyZ);		
-		acceleration_mg[X][i] = lsm6dsl_from_fs2g_to_mg(AccGy.AccX);
-		acceleration_mg[Y][i] = lsm6dsl_from_fs2g_to_mg(AccGy.AccY);
-		acceleration_mg[Z][i] = lsm6dsl_from_fs2g_to_mg(AccGy.AccZ);
+		Slot = i % ACC_COLL_CNT_MAX;		//���λ���,ʼ�ձ�������ACC_COLL_CNT_MAX��
+		angular_rate_mdps[X][Slot] = lsm6dsl_from_fs500dps_to_mdps(AccGy.GyX);
+		angular_rate_mdps[Y][Slot] = lsm6dsl_from_fs500dps_to_mdps(AccGy.GyY);
+		angular_rate_mdps[Z][Slot] = lsm6dsl_from_fs500dps_to_mdps(AccGy.GyZ);
+		acceleration_mg[X][Slot] = lsm6dsl_from_fs2g_to_mg(AccGy.AccX);
+		acceleration_mg[Y][Slot] = lsm6dsl_from_fs2g_to_mg(AccGy.AccY);
+		acceleration_mg[Z][Slot] = lsm6dsl_from_fs2g_to_mg(AccGy.AccZ);
 	}
-	AverageGy[X] = IntFilter_Float(angular_rate_mdps[0], DiffFifo / 6, 2);
-	AverageGy[Y] = IntFilter_Float(angular_rate_mdps[1], DiffFifo / 6, 2);
-	AverageGy[Z] = IntFilter_Float(angular_rate_mdps[2], DiffFifo / 6, 2);
-	AverageAcc[X] = IntFilter_Float(acceleration_mg[0], DiffFifo / 6, 2);
-	AverageAcc[Y] = IntFilter_Float(acceleration_mg[1], DiffFifo / 6, 2);
-	AverageAcc[Z] = IntFilter_Float(acceleration_mg[2], DiffFifo / 6, 2);
+	Cnt = (Sets >= ACC_COLL_CNT_MAX) ? ACC_COLL_CNT_MAX : (uint8_t)Sets;
+	AverageGy[X] = IntFilter_Float(angular_rate_mdps[0], Cnt, 0);
+	AverageGy[Y] = IntFilter_Float(angular_rate_mdps[1], Cnt, 0);
+	AverageGy[Z] = IntFilter_Float(angular_rate_mdps[2], Cnt, 0);
+	AverageAcc[X] = IntFilter_Float(acceleration_mg[0], Cnt, 0);
+	AverageAcc[Y] = IntFilter_Float(acceleration_mg[1], Cnt, 0);
+	AverageAcc[Z] = IntFilter_Float(acceleration_mg[2], Cnt, 0);
 	Lsm6dDataProcessCallBack(AverageAcc, AverageGy);
-	
-	acc_status = Acc_Go_Bypass;
 }
 
 static void ReadWakeUpIntStatus(void)
@@ -192,43 +181,19 @@ static void ReadWakeUpIntStatus(void)
 void Lsm6dslLoopHandler(void)
 {
 	ReadWakeUpIntStatus();
-	switch(acc_status)
-	{
-		case Acc_Idle:
-			break;
-		
-		case Acc_Start:
-			if(acc_cvttime > 0) 
-				break;
-			lsm6dsl_fifo_mode_set(&dev_ctx, LSM6DSL_FIFO_MODE);
-			acc_status = Acc_Get_Data;
-			acc_cvttime = ACC_CVTTIME;
-			break;
-			
-		case Acc_Get_Data:
-			acc_cvttime = 1000;
-			acc_status = Acc_Wait_GetData;
-			break;
-		
-		case Acc_Wait_GetData:
-			if(acc_cvttime <= 0){
-				acc_status = Acc_Go_Bypass;
-			}
-			else if(Lsm6dslWaterMarkFullIntFlag) {
-				Lsm6dslWaterMarkFullIntFlag = false;
-				uint8_t wtm_flag;
-				lsm6dsl_fifo_wtm_flag_get(&dev_ctx, &wtm_flag);
-				Acc_IntHandler();
-				acc_status = Acc_Go_Bypass;
-			}
-			break;
-			
-		case Acc_Go_Bypass:
-			lsm6dsl_fifo_mode_set(&dev_ctx, LSM6DSL_BYPASS_MODE);	
-			Lsm6dsStop();
-			acc_status = Acc_Idle;
-			acc_cvttime = 1;
-			break;
+	if(acc_status != Acc_Get_Data) {
+		return;
+	}
+	if(Lsm6dslRecoverReq) {
+		Lsm6dslRecoverReq = false;
+		Lsm6dsl_Config();				//1����ˮӡ�ж�,��������FIFO/ODR�Իָ�
+		Lsm6dslIntWatchdog = 0;
+		return;
+	}
+	if(Lsm6dslWaterMarkFullIntFlag) {
+		Lsm6dslWaterMarkFullIntFlag = false;
+		Lsm6dslIntWatchdog = 0;
+		Acc_IntHandler();
 	}
 }
 
@@ -236,6 +201,17 @@ void Lsm6dsl1mSRoutine(void)
 {
 	if(acc_cvttime > 0)
 		acc_cvttime--;
+	if(acc_status == Acc_Get_Data) {
+		if(Lsm6dslIntWatchdog < 2000)
+			Lsm6dslIntWatchdog++;
+		if(Lsm6dslIntWatchdog >= 1000) {	//����1����FIFOˮӡ�ж�
+			Lsm6dslIntWatchdog = 0;
+			Lsm6dslRecoverReq = true;
+		}
+	}
+	else {
+		Lsm6dslIntWatchdog = 0;
+	}
 }
 
 void Lsm6dslInit(void)
@@ -245,15 +221,19 @@ void Lsm6dslInit(void)
 
 void Lsm6dsStart(void)
 {
-	Lsm6dsl_Init();
-	acc_status = Acc_Start;
+	if(acc_status == Acc_Get_Data) {
+		return;						//���������ɼ�,���ظ�����
+	}
+	Lsm6dsl_Init();					//���üĴ��������������ɼ�
+	acc_status = Acc_Get_Data;
 }
 
 void Lsm6dsStop(void)
 {
+	lsm6dsl_fifo_mode_set(&dev_ctx, LSM6DSL_BYPASS_MODE);
+	lsm6dsl_fifo_data_rate_set(&dev_ctx, LSM6DSL_FIFO_DISABLE);
 	lsm6dsl_xl_data_rate_set(&dev_ctx, LSM6DSL_XL_ODR_OFF);
 	lsm6dsl_gy_data_rate_set(&dev_ctx, LSM6DSL_GY_ODR_OFF);
-	lsm6dsl_fifo_data_rate_set(&dev_ctx, LSM6DSL_FIFO_DISABLE);
 	acc_status = Acc_Idle;
 }
 
diff --git a/Module/mmc5983/mmc5983.c b/Module/mmc5983/mmc5983.c
index 4d6bb9f..fff6dfd 100644
--- a/Module/mmc5983/mmc5983.c
+++ b/Module/mmc5983/mmc5983.c
@@ -1,14 +1,21 @@
-#include "main.h"
+#include "main.h"
 #include "mmc5983.h"
 #include "UartDebug.h"
 #include "i2c.h"
 #include "Algorithm.h"
 
-static int32_t max_in[XYZ];
-static int32_t min_in[XYZ];
+#define	MAG_AVG_CNT					2		//每2个样本平均输出1次,输出速率=20Hz/2=10Hz
+#define	MAG_POLL_MS					20		//测量完成标志轮询周期,与20Hz测量周期一致
+#define	MAG_POLL_FAIL_MAX			5		//连续5次(100ms)轮询无数据则重写配置自恢复
+
 static bool InitFlag;
 static bool MMC5983IntFlag;
 static MMC5983Var_t MMC5983Var;
+static int32_t mag_array[XYZ][MAG_AVG_CNT];
+static uint8_t magcnt;
+static uint8_t PollFailCnt;
+
+extern void MmcDataProcessCallBack(float *Mag);
 
 /*****************************************************************************************
 * 函数名称: MMC5983_Write_Reg
@@ -50,19 +57,24 @@ static bool MMC5983_Read_Buffer(uint8_t reg, void *buffer, uint8_t len)
 }
 
 /*****************************************************************************************
-* 函数名称: MMC5983StartCov
-* 功能描述: MMC5983开启连续转换
+* 函数名称: MMC5983StartContinuous
+* 功能描述: MMC5983开启20Hz连续转换(常开,不进入低功耗)
 * 参    数: 无
 * 返 回 值: 无
 *****************************************************************************************/
-static void MMC5983StartCov(void)
+static void MMC5983StartContinuous(void)
 {
+	MMC5983RegCtrl0 Ctrl0Reg;
 	MMC5983RegCtrl2 Ctrl2Reg;		//开启/关闭连续转换
+	Ctrl0Reg.Byte = 0x00;
+	Ctrl0Reg.Bit.Auto_SR_en = 1;			//自动SET/RESET,消除温漂零场漂移
+	Ctrl0Reg.Bit.NT_meas_done_en = 1;		//测量完成中断使能(Stop会清CTRL0,启动时必须重写)
+	MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
 	Ctrl2Reg.Byte = 0x00;
-	Ctrl2Reg.Bit.Cm_freq = 0x04;		
+	Ctrl2Reg.Bit.Cm_freq = 0x03;	//011=20Hz连续测量
 	Ctrl2Reg.Bit.Cmm_en = 1;		//连续设1，单次设0
-	Ctrl2Reg.Bit.Prd_set = 3;
-	Ctrl2Reg.Bit.En_prd_set = 1;	//连续设1，单次设0
+	Ctrl2Reg.Bit.Prd_set = 3;		//每100次测量自动SET一次,消除温漂
+	Ctrl2Reg.Bit.En_prd_set = 1;
 	MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);
 }
 
@@ -75,54 +87,49 @@ static void MMC5983StartCov(void)
 static void MMC5983_Init(void)
 {
 	uint8_t id;
-	
+
 	id	= MMC5983_Read_Reg(MMC5983_ID);
 	//DBG_LOG("MMC5983 id=0x%x\r\n",id);
 	MMC5983Var.MMC5983Delay1mSCnt = 100;
 	while(id != 0x30){
 		if(MMC5983Var.MMC5983Delay1mSCnt <= 0) {
-			DBG_LOG("LEFT MMC5983 INIT Err...\r\n");
+			DBG_LOG("MMC5983 INIT Err...\r\n");
 			InitFlag = false;
 			return;
 		}
 	}
-	
+
 	MMC5983RegCtrl1 Ctrl1Reg;
 	Ctrl1Reg.Byte = 0x00;
 	Ctrl1Reg.Bit.SW_RST = 1;
 	MMC5983_Write_Reg(MMC5983_CTRL_1, Ctrl1Reg.Byte);
 	MMC5983Delay(15);
-	
-	MMC5983RegCtrl2 Ctrl2Reg;		//开启/关闭连续转换
+
+	MMC5983RegCtrl2 Ctrl2Reg;		//连续模式在StartContinuous中开启
 	Ctrl2Reg.Byte = 0x00;
-	Ctrl2Reg.Bit.Cm_freq = 0x04;		
-	Ctrl2Reg.Bit.Cmm_en = 0;		//连续设1，单次设0
-	Ctrl2Reg.Bit.Prd_set = 3;
-	Ctrl2Reg.Bit.En_prd_set = 0;	//连续设1，单次设0
 	MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);
-	
+
 	MMC5983RegCtrl3 Ctrl3Reg;
 	Ctrl3Reg.Byte = 0x00;
 	Ctrl3Reg.Bit.St_enm = 1;
 	Ctrl3Reg.Bit.St_enp = 1;
 	MMC5983_Write_Reg(MMC5983_CTRL_3, Ctrl3Reg.Byte);
-	
+
 	MMC5983RegCtrl0 Ctrl0Reg;
 	Ctrl0Reg.Byte = 0x00;
-	Ctrl0Reg.Bit.TM_M = 1;
-	Ctrl0Reg.Bit.Auto_SR_en = 1;
-	Ctrl0Reg.Bit.NT_meas_done_en = 1;
+	Ctrl0Reg.Bit.Auto_SR_en = 1;			//自动SET/RESET,消除温漂零场漂移
+	Ctrl0Reg.Bit.NT_meas_done_en = 1;		//测量完成中断使能
 	MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
-	
+
 	if(InitFlag == false){
-		DBG_LOG("MMC5983 INIT OK...\r\n"); 
+		DBG_LOG("MMC5983 INIT OK...\r\n");
 		InitFlag = true;
 	}
 }
 
 /*****************************************************************************************
 * 函数名称: MMC5983_Read
-* 功能描述: MMC5983读取原始数据
+* 功能描述: MMC5983读取原始数据(18bit)
 * 参    数: MagAdcX X轴数据
 				MagAdcY Y轴数据
 				MagAdcZ Z轴数据
@@ -131,7 +138,7 @@ static void MMC5983_Init(void)
 static bool MMC5983_Read(int32_t *MagAdcX, int32_t *MagAdcY, int32_t *MagAdcZ)
 {
 	static uint8_t buff[7];
-	
+
 	 if (MMC5983_Read_Buffer(MMC5983_X_OUT_H, buff, 7) == false)
         return false;
 
@@ -151,125 +158,114 @@ void MMC5983_Get_Mag(float *mag)
 {
 	if(mag == NULL)
 		return;
-	
+
 	float ADVal[XYZ];
-	
-	ADVal[X] = MMC5983Var.Mag_Original[X] - 131072.0f; 
-	ADVal[Y] = MMC5983Var.Mag_Original[Y] - 131072.0f; 
-	ADVal[Z] = MMC5983Var.Mag_Original[Z] - 131072.0f; 
-	
+
+	ADVal[X] = MMC5983Var.Mag_Original[X] - 131072.0f;
+	ADVal[Y] = MMC5983Var.Mag_Original[Y] - 131072.0f;
+	ADVal[Z] = MMC5983Var.Mag_Original[Z] - 131072.0f;
+
 	mag[0] = (float) (ADVal[X] * MMC5983_MAG_SCALE_18BIT);
    mag[1] = (float) (ADVal[Y] * MMC5983_MAG_SCALE_18BIT);
 	mag[2] = (float) (ADVal[Z] * MMC5983_MAG_SCALE_18BIT);
 }
 
 /*****************************************************************************************
-* 函数名称: MMC5983LoopHandler
-* 功能描述: MMC5983循环处理函数
+* 函数名称: MMC5983MeasDoneProcess
+* 功能描述: 单次测量完成处理:读取样本、清除中断锁存,凑够MAG_AVG_CNT个样本后平均输出
+* 参    数: 无
+* 返 回 值: 无
+*****************************************************************************************/
+static void MMC5983MeasDoneProcess(void)
+{
+	MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;
+	if(MMC5983_Read(&mag_array[X][magcnt], &mag_array[Y][magcnt], &mag_array[Z][magcnt])){
+		magcnt++;
+	}
+	MMC5983_Write_Reg(MMC5983_STATUS, 0x01);	//写1清Meas_M_Done,释放INT锁存,下次测量产生新上升沿
+	if(magcnt >= MAG_AVG_CNT){
+		MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
+		MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
+		MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
+		magcnt = 0;
+		MMC5983_Get_Mag(MMC5983Var.Mag);
+		MmcDataProcessCallBack(MMC5983Var.Mag);
+	}
+}
+
+/*****************************************************************************************
+* 函数名称: MMC5983LoopHandler
+* 功能描述: MMC5983循环处理函数,20Hz连续采样,2样本平均后10Hz输出
 * 参    数: 无
 * 返 回 值: 无
 *****************************************************************************************/
-extern void MmcDataProcessCallBack(float *Mag);
 
 void MMC5983LoopHandler(void)
 {
-	static int32_t mag_array[XYZ][10];
-	static uint8_t magcnt;
-	static uint8_t TimeOutMagcnt;
-	
 	switch(MMC5983Var.Status) {
 		case MMC5983_STATUS_IDLE:{
 		break;}
-		
+
 		case MMC5983_STATUS_START:{
-			for(int i = 0; i < 10; i++) {
-					mag_array[X][i] = 0;
-					mag_array[Y][i] = 0;
-					mag_array[Z][i] = 0;
-				}		
-			magcnt = 0;
-			TimeOutMagcnt = 0;
-			memset(&MMC5983Var, NULL, sizeof(MMC5983Var));
-			MMC5983Var.Status = MMC5983_STATUS_DELAY;
-		break;}
-		
-		case MMC5983_STATUS_DELAY:{
-			MMC5983StartRead();
-			MMC5983Var.MMC5983Delay1mSCnt = 50;
-			MMC5983Var.Status = MMC5983_STATUS_WAIT_DELAY;	
-		break;}
-		
-		case MMC5983_STATUS_WAIT_DELAY:{
-			if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
-				MMC5983Var.Status = MMC5983_STATUS_READ;	
+			if(!InitFlag){
+				MMC5983_Init();
+				if(!InitFlag){
+					MMC5983Var.Status = MMC5983_STATUS_IDLE;
+					break;
+				}
 			}
-		break;}
-			
-		case MMC5983_STATUS_READ:{
-			MMC5983Var.MMC5983Delay1mSCnt = 50;
+			magcnt = 0;
+			PollFailCnt = 0;
+			MMC5983StartContinuous();					//开启20Hz连续测量
+			MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;
 			MMC5983Var.Status = MMC5983_STATUS_WAIT_READ;
 		break;}
-		
-		case	MMC5983_STATUS_WAIT_READ:{
-			if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
-				MMC5983Var.Status = MMC5983_STATUS_DELAY;
-				TimeOutMagcnt++;
-			}
+
+		case MMC5983_STATUS_WAIT_READ:{
 			if(MMC5983IntFlag == true){
 				MMC5983IntFlag = false;
-				MMC5983_Read(&mag_array[X][magcnt], &mag_array[Y][magcnt], &mag_array[Z][magcnt]);
-				magcnt++;
-				MMC5983Var.Status = MMC5983_STATUS_DELAY;
+				PollFailCnt = 0;
+				MMC5983MeasDoneProcess();				//INT触发,立即读数
 			}
-			if(TimeOutMagcnt >= 10){
-				TimeOutMagcnt = 0;
-				if(magcnt > 0){
-					MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
-					MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
-					MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
-					magcnt = 0;
-					MMC5983_Get_Mag(MMC5983Var.Mag);
-					MmcDataProcessCallBack(MMC5983Var.Mag);
-					MMC5983Var.Status = MMC5983_STATUS_STOP;
+			else if(MMC5983Var.MMC5983Delay1mSCnt <= 0){
+				uint8_t StatusReg;
+				MMC5983Var.MMC5983Delay1mSCnt = MAG_POLL_MS;	//20ms轮询一次测量完成标志
+				StatusReg = MMC5983_Read_Reg(MMC5983_STATUS);
+				if((StatusReg & 0x01) != 0){			//Meas_M_Done=1,测量完成
+					PollFailCnt = 0;
+					MMC5983MeasDoneProcess();
 				}
 				else{
-					MMC5983Var.Status = MMC5983_STATUS_STOP;
-//					DBG_LOG("LEFT MMC5983 TimeOut...\r\n"); 
+					PollFailCnt++;
+					if(PollFailCnt >= MAG_POLL_FAIL_MAX){
+						PollFailCnt = 0;
+						MMC5983StartContinuous();		//连续无数据,重写配置自恢复
+					}
 				}
 			}
-			if(magcnt >= 10){
-				MMC5983Var.Mag_Original[X] = AverageFilter_32t(mag_array[X], magcnt);
-				MMC5983Var.Mag_Original[Y] = AverageFilter_32t(mag_array[Y], magcnt);
-				MMC5983Var.Mag_Original[Z] = AverageFilter_32t(mag_array[Z], magcnt);
-				magcnt = 0;
-				MMC5983_Get_Mag(MMC5983Var.Mag);
-				MmcDataProcessCallBack(MMC5983Var.Mag);
-				MMC5983Var.Status = MMC5983_STATUS_STOP;
-			}
 		break;}
-		
+
 		case MMC5983_STATUS_STOP:{
 			MMC5983Stop();
 			MMC5983Var.Status = MMC5983_STATUS_IDLE;
-			//MMC5983Var.Status = MMC5983_STATUS_START;//持续工作
 		break;}
 	}
 }
 
 /*****************************************************************************************
-* 函数名称: LeftMMC59831mSRoutine
+* 函数名称: MMC59831mSRoutine
 * 功能描述: MMC59831ms时基循环处理函数
 * 参    数: 无
 * 返 回 值: 无
 *****************************************************************************************/
 void MMC59831mSRoutine(void)
 {
-	if(MMC5983Var.MMC5983Delay1mSCnt > 0) 
+	if(MMC5983Var.MMC5983Delay1mSCnt > 0)
 		MMC5983Var.MMC5983Delay1mSCnt--;
 }
 
 /*****************************************************************************************
-* 函数名称: LeftMMC5983Init
+* 函数名称: MMC5983Init
 * 功能描述: MMC5983初始化
 * 参    数: 无
 * 返 回 值: 无
@@ -280,58 +276,52 @@ void MMC5983Init(void)
 		MMC5983_Init();
 		return;
 	}
-	
+
 	MMC5983Var.Status = MMC5983_STATUS_START;
 }
 
 /*****************************************************************************************
-* 函数名称: LeftMMC5983Start
-* 功能描述: MMC5983启动
+* 函数名称: MMC5983Start
+* 功能描述: MMC5983启动(幂等,已运行则直接返回)
 * 参    数: 无
 * 返 回 值: 无
 *****************************************************************************************/
 void MMC5983Start(void)
 {
+	if(MMC5983Var.Status == MMC5983_STATUS_WAIT_READ){
+		return;									//已在连续采样,不重复配置
+	}
 	if(!InitFlag){
 		MMC5983_Init();
-		return;
+		if(!InitFlag){
+			return;
+		}
 	}
-	
+
 	MMC5983Var.Status = MMC5983_STATUS_START;
 }
 
-/*****************************************************************************************
-* 函数名称: LeftMMC5983StartRead
-* 功能描述: MMC5983启动读取
-* 参    数: 无
-* 返 回 值: 无
-*****************************************************************************************/
-void MMC5983StartRead(void)
-{	
-	MMC5983_Init();//读取时重新初始化
-}
-
 /*****************************************************************************************
 * 函数名称: MMC5983Stop
-* 功能描述: MMC5983停止
+* 功能描述: MMC5983停止(关闭连续转换)
 * 参    数: 无
 * 返 回 值: 无
 *****************************************************************************************/
 void MMC5983Stop(void)
-{	
+{
+	MMC5983RegCtrl2 Ctrl2Reg;
+	Ctrl2Reg.Byte = 0x00;
+	MMC5983_Write_Reg(MMC5983_CTRL_2, Ctrl2Reg.Byte);		//Cmm_en=0,关闭连续转换
+
 	MMC5983RegCtrl0 Ctrl0Reg;
 	Ctrl0Reg.Byte = 0x00;
 	MMC5983_Write_Reg(MMC5983_CTRL_0, Ctrl0Reg.Byte);
-	
-	MMC5983RegStatus StatusReg;
-	StatusReg.Byte = MMC5983_Read_Reg(MMC5983_STATUS);
-	if(StatusReg.Bit.Meas_M_Done == 1){
-		MMC5983_Write_Reg(MMC5983_STATUS, StatusReg.Byte);
-	}
+
+	MMC5983Var.Status = MMC5983_STATUS_IDLE;
 }
 
 /*****************************************************************************************
-* 函数名称: LeftMMC5983IntCallBack
+* 函数名称: MMC5983IntCallBack
 * 功能描述: MMC5983中断回调
 * 参    数: 无
 * 返 回 值: 无
@@ -340,4 +330,3 @@ void MMC5983IntCallBack(void)
 {
 	MMC5983IntFlag = true;
 }
-
diff --git a/Module/mmc5983/mmc5983.h b/Module/mmc5983/mmc5983.h
index 9023e88..7e9a085 100644
--- a/Module/mmc5983/mmc5983.h
+++ b/Module/mmc5983/mmc5983.h
@@ -103,9 +103,6 @@ typedef union {
 typedef enum{
 	MMC5983_STATUS_IDLE,
 	MMC5983_STATUS_START,
-	MMC5983_STATUS_DELAY,
-	MMC5983_STATUS_WAIT_DELAY,
-	MMC5983_STATUS_READ,
 	MMC5983_STATUS_WAIT_READ,
 	MMC5983_STATUS_STOP,
 }MMC5983Status_m;
@@ -129,7 +126,6 @@ void MMC5983Calib(void);
 void MMC5983GetADValue(int32_t *Mag);
 void MMC5983_Get_Mag(float *mag);
 MMC5983Status_m GetMMC5983Status(void);
-void MMC5983StartRead(void);
 bool GetMMC5983CalibStatus(void);
 #endif
 
diff --git a/driver/src/i2c.c b/driver/src/i2c.c
index bf3453f..ec54ed9 100644
--- a/driver/src/i2c.c
+++ b/driver/src/i2c.c
@@ -66,11 +66,11 @@
 
 /**
  ******************************************************************************
- ** \brief  I2C设置波特率配置寄存器
+ ** \brief  I2C���ò��������üĴ���
  **
- ** \param [in] u8Tm 波特率配置值
+ ** \param [in] u8Tm ����������ֵ
  **
- ** \retval enRet 成功或失败
+ ** \retval enRet �ɹ���ʧ��
  **
  ******************************************************************************/
  en_result_t I2C_SetBaud(M0P_I2C_TypeDef* I2Cx, uint8_t u8Tm)
@@ -84,11 +84,11 @@
  }
  /**
  ******************************************************************************
- ** \brief  I2C功能设置相关函数
+ ** \brief  I2C����������غ���
  **
- ** \param [in] enFunc功能参数
+ ** \param [in] enFunc���ܲ���
  **
- ** \retval enRet 成功或失败
+ ** \retval enRet �ɹ���ʧ��
  **
  ******************************************************************************/
 en_result_t I2C_SetFunc(M0P_I2C_TypeDef* I2Cx, en_i2c_func_t enFunc)
@@ -102,11 +102,11 @@ en_result_t I2C_SetFunc(M0P_I2C_TypeDef* I2Cx, en_i2c_func_t enFunc)
 }
  /**
  ******************************************************************************
- ** \brief  I2C功能清除相关函数
+ ** \brief  I2C���������غ���
  **
- ** \param [in] enFunc功能参数
+ ** \param [in] enFunc���ܲ���
  **
- ** \retval enRet 成功或失败
+ ** \retval enRet �ɹ���ʧ��
  **
  ******************************************************************************/
  en_result_t I2C_ClearFunc(M0P_I2C_TypeDef* I2Cx, en_i2c_func_t enFunc)
@@ -120,11 +120,11 @@ en_result_t I2C_SetFunc(M0P_I2C_TypeDef* I2Cx, en_i2c_func_t enFunc)
  }
  /**
  ******************************************************************************
- ** \brief  I2C获取中断标记函数
+ ** \brief  I2C��ȡ�жϱ�Ǻ���
  **
- ** \param 无
+ ** \param ��
  **
- ** \retval bIrq中断标记
+ ** \retval bIrq�жϱ��
  **
  ******************************************************************************/
 boolean_t I2C_GetIrq(M0P_I2C_TypeDef* I2Cx)
@@ -140,11 +140,11 @@ boolean_t I2C_GetIrq(M0P_I2C_TypeDef* I2Cx)
 }
 /**
  ******************************************************************************
- ** \brief  I2C清除中断标记函数
+ ** \brief  I2C����жϱ�Ǻ���
  **
- ** \param 无
+ ** \param ��
  **
- ** \retval bIrq中断标记
+ ** \retval bIrq�жϱ��
  **
  ******************************************************************************/
 en_result_t I2C_ClearIrq(M0P_I2C_TypeDef* I2Cx)
@@ -158,11 +158,11 @@ en_result_t I2C_ClearIrq(M0P_I2C_TypeDef* I2Cx)
 }
  /**
  ******************************************************************************
- ** \brief  I2C获取相关状态
+ ** \brief  I2C��ȡ���״̬
  **
- ** \param 无
+ ** \param ��
  **
- ** \retval I2C状态
+ ** \retval I2C״̬
  **
  ******************************************************************************/
 uint8_t I2C_GetState(M0P_I2C_TypeDef* I2Cx)
@@ -176,11 +176,11 @@ uint8_t I2C_GetState(M0P_I2C_TypeDef* I2Cx)
 
 /**
  ******************************************************************************
- ** \brief  字节数据写函数
+ ** \brief  �ֽ�����д����
  **
- ** \param  u8Data写数据
+ ** \param  u8Data���
  **
- ** \retval 写数据是否成功
+ ** \retval д�����Ƿ�ɹ�
  **
  ******************************************************************************/
 en_result_t I2C_WriteByte(M0P_I2C_TypeDef* I2Cx, uint8_t u8Data)
@@ -194,11 +194,11 @@ en_result_t I2C_WriteByte(M0P_I2C_TypeDef* I2Cx, uint8_t u8Data)
 }
 /**
  ******************************************************************************
- ** \brief  字节数据读函数
+ ** \brief  �ֽ����ݶ�����
  **
- ** \param  无
+ ** \param  ��
  **
- ** \retval 读取数据
+ ** \retval ��ȡ����
  **
  ******************************************************************************/
 uint8_t I2C_ReadByte(M0P_I2C_TypeDef* I2Cx)
@@ -212,11 +212,11 @@ uint8_t I2C_ReadByte(M0P_I2C_TypeDef* I2Cx)
 
 /**
  ******************************************************************************
- ** \brief  I2C模块初始化
+ ** \brief  I2Cģ���ʼ��
  **
- ** \param pstcI2CCfg初始化配置结构体
+ ** \param pstcI2CCfg��ʼ�����ýṹ��
  **
- ** \retval 初始化是否成功
+ ** \retval ��ʼ���Ƿ�ɹ�
  **
  ******************************************************************************/
 en_result_t I2C_Init(M0P_I2C_TypeDef* I2Cx, stc_i2c_cfg_t *pstcI2CCfg)
@@ -265,71 +265,89 @@ en_result_t I2C_Init(M0P_I2C_TypeDef* I2Cx, stc_i2c_cfg_t *pstcI2CCfg)
 }
 /**
  ******************************************************************************
- ** \brief  I2C模块接收指定长度函数
+ ** \brief  I2Cģ�����ָ�����Ⱥ���
  **
- ** \param  u8SlaveAddr从机设备地址，u8Addr从机内存地址，pu8Data读数据存放缓存，u32Len读数据长度
+ ** \param  u8SlaveAddr�ӻ��豸��ַ��u8Addr�ӻ��ڴ��ַ��pu8Data�����ݴ�Ż��棬u32Len�����ݳ���
  **
- ** \retval 读数据是否成功
+ ** \retval �������Ƿ�ɹ�
  **
  ******************************************************************************/
- boolean_t I2C_MasterReadData(M0P_I2C_TypeDef* I2CX,uint8_t u8SlaveAddr,uint8_t u8Addr,uint8_t *pu8Data,uint32_t u32Len)
+ #define I2C_WAIT_TIMEOUT     20000u     ///< �����ȴ���ʱ����,��ֹ���߿�������ϵͳ��ѭ��
+#define I2C_READ_PASS_MAX    200u       ///< ������״̬�����ѭ������(48�ֽ�FIFO��Լ��120��)
+#define I2C_WRITE_PASS_MAX   64u        ///< д����״̬�����ѭ������
+
+boolean_t I2C_MasterReadData(M0P_I2C_TypeDef* I2CX,uint8_t u8SlaveAddr,uint8_t u8Addr,uint8_t *pu8Data,uint32_t u32Len)
 {
     boolean_t enRet = FALSE;
     uint8_t u8i=0,u8State;
-    
-    I2C_SetFunc(I2CX,I2cStart_En);//开始
-    
+    uint32_t u32Wait = 0;
+    uint16_t u16Pass = 0;
+
+    I2C_SetFunc(I2CX,I2cStart_En);//��ʼ
+
     while(1)
     {
-        while(0 == I2C_GetIrq(I2CX))//获取中断标记函数
-        {;}
-        u8State = I2C_GetState(I2CX);//获取i2c相关状态
+        while(0 == I2C_GetIrq(I2CX))//��ȡ�жϱ�Ǻ���
+        {
+            if(++u32Wait >= I2C_WAIT_TIMEOUT)        ///< �ȴ���ʱ,�����쳣
+            {
+                I2C_SetFunc(I2CX,I2cStop_En);        ///< ���Է���ֹͣ�����ͷ�����
+                return FALSE;
+            }
+        }
+        u32Wait = 0;
+        if(++u16Pass >= I2C_READ_PASS_MAX)           ///< ״̬�����Գ���(����NACK��),�������δ���
+        {
+            I2C_SetFunc(I2CX,I2cStop_En);
+            return FALSE;
+        }
+        u8State = I2C_GetState(I2CX);//��ȡi2c���״̬
         switch(u8State)
         {
-            case 0x08:                                 ///< 主设备向总线已发出了一个起始条件
+            case 0x08:                                 ///< ���豸�������ѷ�����һ����ʼ����
                 I2C_ClearFunc(I2CX,I2cStart_En);
                 I2C_WriteByte(I2CX,(u8SlaveAddr << 1));
                 break;
-            case 0x18:                                 ///< 主设备向总线已发出了一个从设备地址（写方向）并且接收到从设备的应答
-                I2C_WriteByte(I2CX,u8Addr);            ///< 发送从机内存地址
+            case 0x18:                                 ///< ���豸�������ѷ�����һ�����豸��ַ��д���򣩲��ҽ��յ����豸��Ӧ��
+                I2C_WriteByte(I2CX,u8Addr);            ///< ���ʹӻ��ڴ��ַ
                 break;
-            case 0x28:                                 ///< 已发送数据，接收到ACK, 此处是已发送从机内存地址u8Addr并接收到ACK
-                I2C_SetFunc(I2CX,I2cStart_En);         ///< 发送重复起始条件
+            case 0x28:                                 ///< �ѷ������ݣ����յ�ACK, �˴����ѷ��ʹӻ��ڴ��ַu8Addr�����յ�ACK
+                I2C_SetFunc(I2CX,I2cStart_En);         ///< �����ظ���ʼ����
                 break;
-            case 0x10:                                 ///< 主设备向总线已发出了一个重复的起始条件
+            case 0x10:                                 ///< ���豸�������ѷ�����һ���ظ�����ʼ����
                 I2C_ClearFunc(I2CX,I2cStart_En);
-                I2C_WriteByte(I2CX,(u8SlaveAddr << 1) | 0x01);///< 发送SLA+R，开始从从机读取数据
+                I2C_WriteByte(I2CX,(u8SlaveAddr << 1) | 0x01);///< ����SLA+R����ʼ�Ӵӻ���ȡ����
                 break;
-            case 0x40:                                 ///< 已发送SLA+R，并接收到ACK
+            case 0x40:                                 ///< �ѷ���SLA+R�������յ�ACK
                 if(u32Len>1)
                 {
-                    I2C_SetFunc(I2CX,I2cAck_En);       ///< 使能主机应答功能
+                    I2C_SetFunc(I2CX,I2cAck_En);       ///< ʹ������Ӧ����
                 }
                 break;
-            case 0x50:                                 ///< 已接收数据字节，并已返回ACK信号
+            case 0x50:                                 ///< �ѽ��������ֽڣ����ѷ���ACK�ź�
                 pu8Data[u8i++] = I2C_ReadByte(I2CX);
                 if(u8i==u32Len-1)
                 {
-                    I2C_ClearFunc(I2CX,I2cAck_En);     ///< 已接收到倒数第二个字节，关闭ACK应答功能
+                    I2C_ClearFunc(I2CX,I2cAck_En);     ///< �ѽ��յ������ڶ����ֽڣ��ر�ACKӦ����
                 }
                 break;
-            case 0x58:                                 ///< 已接收到最后一个数据，NACK已返回
+            case 0x58:                                 ///< �ѽ��յ����һ�����ݣ�NACK�ѷ���
                 pu8Data[u8i++] = I2C_ReadByte(I2CX);
-                I2C_SetFunc(I2CX,I2cStop_En);          ///< 发送停止条件
+                I2C_SetFunc(I2CX,I2cStop_En);          ///< ����ֹͣ����
                 break;
-            case 0x38:                                 ///< 在发送地址或数据时，仲裁丢失
-                I2C_SetFunc(I2CX,I2cStart_En);         ///< 当总线空闲时发起起始条件
+            case 0x38:                                 ///< �ڷ��͵�ַ������ʱ���ٲö�ʧ
+                I2C_SetFunc(I2CX,I2cStart_En);         ///< �����߿���ʱ������ʼ����
                 break;
-            case 0x48:                                 ///< 发送SLA+R后，收到一个NACK
-                I2C_SetFunc(I2CX,I2cStop_En);          ///< 发送停止条件
-                I2C_SetFunc(I2CX,I2cStart_En);         ///< 发送起始条件
+            case 0x48:                                 ///< ����SLA+R���յ�һ��NACK
+                I2C_SetFunc(I2CX,I2cStop_En);          ///< ����ֹͣ����
+                I2C_SetFunc(I2CX,I2cStart_En);         ///< ������ʼ����
                 break;
             default:
-                I2C_SetFunc(I2CX,I2cStart_En);         ///< 其他错误状态，重新发送起始条件
+                I2C_SetFunc(I2CX,I2cStart_En);         ///< ��������״̬�����·�����ʼ����
                 break;
         }
-        I2C_ClearIrq(I2CX);                            ///< 清除中断状态标志位
-        if(u8i==u32Len)                                ///< 数据全部读取完成，跳出while循环
+        I2C_ClearIrq(I2CX);                            ///< ����ж�״̬��־λ
+        if(u8i==u32Len)                                ///< ����ȫ����ȡ��ɣ�����whileѭ��
         {
                 break;
         }
@@ -339,60 +357,76 @@ en_result_t I2C_Init(M0P_I2C_TypeDef* I2Cx, stc_i2c_cfg_t *pstcI2CCfg)
 }
 /**
  ******************************************************************************
- ** \brief  I2C模块主机发送指定长度函数
+ ** \brief  I2Cģ����������ָ�����Ⱥ���
  **
- ** \param u8SlaveAddr从机设备地址，u8Addr从机内存地址，pu8Data写数据，u32Len写数据长度
+ ** \param u8SlaveAddr�ӻ��豸��ַ��u8Addr�ӻ��ڴ��ַ��pu8Dataд���ݣ�u32Lenд���ݳ���
  **
- ** \retval 写数据是否成功
+ ** \retval д�����Ƿ�ɹ�
  **
  ******************************************************************************/
 boolean_t I2C_MasterWriteData(M0P_I2C_TypeDef* I2CX,uint8_t u8SlaveAddr,uint8_t u8Addr,uint8_t *pu8Data,uint32_t u32Len)
 {
     boolean_t enRet = FALSE;
     uint8_t u8i=0,u8State, u8Flag=FALSE;
+    uint32_t u32Wait = 0;
+    uint16_t u16Pass = 0;
     I2C_SetFunc(I2CX,I2cStart_En);
     while(1)
     {
         while(0 == I2C_GetIrq(I2CX))
-        {;}
+        {
+            if(++u32Wait >= I2C_WAIT_TIMEOUT)        ///< �ȴ���ʱ,�����쳣
+            {
+                I2C_SetFunc(I2CX,I2cStop_En);        ///< ���Է���ֹͣ�����ͷ�����
+                return FALSE;
+            }
+        }
+        u32Wait = 0;
+        if(++u16Pass >= I2C_WRITE_PASS_MAX)          ///< ״̬�����Գ���(����NACK��),�������δ���
+        {
+            I2C_SetFunc(I2CX,I2cStop_En);
+            return FALSE;
+        }
         u8State = I2C_GetState(I2CX);
         switch(u8State)
         {
-            case 0x08:                               ///< 已发送起始条件
+            case 0x08:                               ///< �ѷ�����ʼ����
                 I2C_ClearFunc(I2CX,I2cStart_En);
-                I2C_WriteByte(I2CX,(u8SlaveAddr << 1));   ///< 从设备地址发送
+                I2C_WriteByte(I2CX,(u8SlaveAddr << 1));   ///< ���豸��ַ����
                 break;
-            case 0x18:                               ///< 已发送SLA+W，并接收到ACK
-                I2C_WriteByte(I2CX,u8Addr);          ///< 从设备内存地址发送
+            case 0x18:                               ///< �ѷ���SLA+W�������յ�ACK
+                I2C_WriteByte(I2CX,u8Addr);          ///< ���豸�ڴ��ַ����
                 break;
-            case 0x28:                               ///< 上一次发送数据后接收到ACK
+            case 0x28:                               ///< ��һ�η������ݺ���յ�ACK
                 if (u8i < u32Len)
                 {
-                    I2C_WriteByte(I2CX,pu8Data[u8i++]);  ///< 继续发送数据
+                    I2C_WriteByte(I2CX,pu8Data[u8i++]);  ///< ������������
                 }else
                 {
-                    I2C_SetFunc(I2CX,I2cStop_En);     ///< 出停止条件
+                    I2C_SetFunc(I2CX,I2cStop_En);     ///< ��ֹͣ����
                     u8Flag = TRUE;
+                    enRet = TRUE;                     ///< ȫ�����ݷ������
                 }
                 break;
-            case 0x38:                               ///< 上一次在SLA+读或写时丢失仲裁
-                I2C_SetFunc(I2CX,I2cStart_En);       ///< 当I2C总线空闲时发送起始条件
+            case 0x38:                               ///< ��һ����SLA+����дʱ��ʧ�ٲ�
+                I2C_SetFunc(I2CX,I2cStart_En);       ///< ��I2C���߿���ʱ������ʼ����
                 break;
-            case 0x30:                               ///< 已发送I2Cx_DATA中的数据，收到NACK，将传输一个STOP条件
-                I2C_SetFunc(I2CX,I2cStop_En);        ///< 发送停止条件
+            case 0x30:                               ///< �ѷ���I2Cx_DATA�е����ݣ��յ�NACK��������һ��STOP����
+                I2C_SetFunc(I2CX,I2cStop_En);        ///< ����ֹͣ����
+                u8Flag = TRUE;
+                enRet = FALSE;                       ///< �ӻ�NACK,���δ���ʧ��
                 break;
             default:
                 break;
         }
         
-        I2C_ClearIrq(I2CX);                          ///< 清除中断状态标志位
-        
-        if(u8Flag == TRUE)  ///< 数据发送完成
-        {   
+        I2C_ClearIrq(I2CX);                          ///< ����ж�״̬��־λ
+
+        if(u8Flag == TRUE)  ///< ���ݷ������
+        {
             break;
         }
     }
-    enRet = TRUE;
     return enRet;
 }
 //@} // I2cGroup
diff --git a/source/src/main.c b/source/src/main.c
index ce36362..33f7193 100644
--- a/source/src/main.c
+++ b/source/src/main.c
@@ -235,20 +235,21 @@ static void ReadDataLoopHandler(void)
    	break;}
 		
 		case READDATA_STATUS_UPDAING:{
-			DATA_DBG_LOG("<------------ Sensor Data Updaing ------------> \r\n");
-			App.UpdateOk = false;
+			//持续采集模式下UpdateOk不在启动时清零:上一轮数据仍有效,拿到新数据后才覆盖
+			//否则在两轮数据的间隙(约100ms)键入up/coll会误报"Device data is not ready"
 			Lsm6dsStart();
 			MMC5983Start();
 			App.ReadData1mSDelayCnt = 2000;
 			App.RDStatus = READDATA_STATUS_WAIT_UPDAING;
    	break;}
-		
+
 		case READDATA_STATUS_WAIT_UPDAING:{
 			if(App.ReadData1mSDelayCnt <= 0){
 				if(App.AccRead_EndFlag == false)
-					DATA_DBG_LOG("Lsm6dsl Get Data TimeOut...\r\n");								
+					DATA_DBG_LOG("Lsm6dsl Get Data TimeOut...\r\n");
 				if(App.MagRead_EndFlag == false)
 					DATA_DBG_LOG("MMC5983 Get Data TimeOut...\r\n");
+				App.UpdateOk = false;		//超时:数据不可信
 				App.RDStatus = READDATA_STATUS_DATA_HANDLE;
 			}
 			else if(App.MagRead_EndFlag == true
@@ -256,22 +257,20 @@ static void ReadDataLoopHandler(void)
 				App.RDStatus = READDATA_STATUS_DATA_HANDLE;
 			}
 		break;}
-		
+
 		case READDATA_STATUS_DATA_HANDLE:{
 			if(App.MagRead_EndFlag == false || App.AccRead_EndFlag == false){
-				DATA_DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");
-				App.RDStatus = READDATA_STATUS_IDLE;
-				App.UpdateOk = false;
+				//有传感器超时未出数:回到采集状态持续重试(启动函数幂等,不会重复初始化)
+				App.RDStatus = READDATA_STATUS_UPDAING;
 				break;
 			}
 			App.MagRead_EndFlag = false;
 			App.AccRead_EndFlag = false;
-			
+
 			IMU_Update(0, App.Sensor.acce, App.Sensor.mag, &App.AHRSData.Rad, &App.AHRSData.Deg);
 			App.ConvertedData.Pitch = (int16_t)(App.AHRSData.Deg.pitch * 10);
 			App.ConvertedData.Roll = (int16_t)(App.AHRSData.Deg.roll * 10);
 			App.ConvertedData.Yaw = (int16_t)(App.AHRSData.Deg.yaw * 10);
-			DATA_DBG_LOG("PitchAngle:%06.1f, RollAngle:%06.1f, YawAngle:%06.1f\r\n",App.AHRSData.Deg.pitch, App.AHRSData.Deg.roll, App.AHRSData.Deg.yaw);
 			
 			if(SGCP.MasterCaliOk == true)
 			{
@@ -317,9 +316,9 @@ static void ReadDataLoopHandler(void)
 #endif
 			
 			memcpy(LocalDataPack, &SGCP.DevData.LaserTracing, sizeof(LocalDataPack));
-			DATA_DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");
+			//DATA_DBG_LOG("<------------ Sensor Data Upda End ------------> \r\n");	//10Hz循环打印会阻塞9600调试串口,屏蔽
 			//App.RDStatus = READDATA_STATUS_UPDAING;//持续工作
-			App.RDStatus = READDATA_STATUS_IDLE;
+			App.RDStatus = READDATA_STATUS_UPDAING;//持续采集,姿态数据保持10Hz更新(上传网关节奏不变,仍由UploadFlag定时器控制)
 			App.UpdateOk = true;
    	break;}
    }
@@ -352,6 +351,34 @@ bool IsFullPowerTime(void)
 	return false;
 }
 
+/*****************************************************************************************
+* 函数名称: LoraPowerHandler
+* 功能描述: LoRa按需供电管理(设备为主动上报模式):
+*						仅在与网关通信期间(GWStatus非IDLE,含注册/上传/信号查询/激光响应)开启LoRa接收,
+*						通信结束回到IDLE立即休眠LoRa,平时不耗电。
+*						单片机/加速度/地磁不受影响,保持持续采集。
+* 参    数: 无
+* 返 回 值: 无
+*****************************************************************************************/
+static void LoraPowerHandler(void)
+{
+	static bool LoraPowerOn = true;		//开机BspInit已开启,初值true
+	bool NeedLora;
+
+	NeedLora = (SGCP.GWStatus != GW_STATUS_IDLE);
+
+	if(NeedLora == true && LoraPowerOn == false) {
+		LoraPowerOn = true;
+		Sx1276LoRaWakeup();				//进入接收模式
+		LORAIntEnable();					//开启LORA中断
+	}
+	else if(NeedLora == false && LoraPowerOn == true) {
+		LoraPowerOn = false;
+		LORAIntDisable();					//关闭LORA中断
+		Sx1276LoRaSleep();				//LoRa休眠,平时不耗电
+	}
+}
+
 static void AppLoopHandler(void)
 {
 	switch(App.Status) {
@@ -393,14 +420,16 @@ static void AppLoopHandler(void)
 				SGCP.GWStatus = GW_STATUS_LOGIN;//注册
 				App.Status = APP_STATUS_WAIT_LOGIN;
 			}
-			else if(SGCP.TimingAcquisition == true && App.RDStatus == READDATA_STATUS_IDLE)//设备数据获取
-			{
+			else if(SGCP.TimingAcquisition == true)//设备数据获取(持续采集模式下RDStatus常驻非IDLE,采集请求视为已被满足)
+		{
+			SGCP.TimingAcquisition = false;
+			if(App.RDStatus == READDATA_STATUS_IDLE){
 				PrintfMess();
-				SGCP.TimingAcquisition = false;
 				App.RDStatus = READDATA_STATUS_UPDAING;
 				App.Status = APP_STATUS_ACTION;
 				App.TD1mSDelayCnt = 1000;
 			}
+		}
 			else if(SGCP.LoginOk == true && App.UploadFlag == true && SGCP.GWStatus == GW_STATUS_IDLE && App.UpdateOk == true)
 			{
 				PrintfMess();
@@ -561,6 +590,7 @@ int32_t main(void)
 	//09 00 01 00 00 00
 	
 	while (1) {
+		LoraPowerHandler();//LoRa按需供电:通信时开,平时休眠
 #if(USE_VBAT_AD == 1)
 		ADCLoopHandler();
 #endif