diff --git a/ETH/UdpServer/app/app_data_processing.c b/ETH/UdpServer/app/app_data_processing.c
index 76d6981..608a962 100644
--- a/ETH/UdpServer/app/app_data_processing.c
+++ b/ETH/UdpServer/app/app_data_processing.c
@@ -2,27 +2,27 @@
 #include <stdint.h>
 #include <ctype.h>
 
-// ¶¨Ê±Æ÷½á¹¹Ìå
+// ??????
 Timer data_processing_timer;
 Timer iim6234_timer;
 Timer rm3100_timer;
 Timer rs232_output_timer;
 
-StrInfNavigationOutput nav_data = {0};  // ³õʼ»¯ÎªÈ«0
+StrInfNavigationOutput nav_data = {0};  // ?????0
 UnInfProtocolFrame     yis321_data = {0};
 
 GGA_Data  gga_data1 = {0};
 VTG_Data  vtg_data1 = {0};
 THS_Data  ths_data1 = {0};
 
-// ¶¨Òå°´Å¥½á¹¹Ìå
+// ???????
 
 
 uint8_t remote_tcp_ip[4] = {192,168,10,7};
 
 
 
-/* ½«¶È·Ö¸ñʽת»»ÎªÊ®½øÖƶÈÊý */
+/* ????????????? */
 double nmea_to_decimal(double dm, char direction) 
 {
     double degrees = (int)(dm / 100);
@@ -31,7 +31,7 @@ double nmea_to_decimal(double dm, char direction)
     return (direction == 'S' || direction == 'W') ? -decimal : decimal;
 }
 
-// ½âÎöGNGGAº¯Êý
+// ??GNGGA??
 uint8_t parse_GGA(const char* data, GGA_Data* gga)
 {
     char buffer[256];
@@ -55,8 +55,8 @@ uint8_t parse_GGA(const char* data, GGA_Data* gga)
         field_index++;
     }
 
-    // ¶È·Öתʮ½øÖÆ£¨ÔÚ½âÎöÍê³Éºóͳһ´¦Àí£©
-    if (field_index > 5) { // È·±£ÒѽâÎöµ½¾­¶È×Ö¶Î
+    // ??????????????????
+    if (field_index > 5) { // ??????????
         gga->latitude = nmea_to_decimal(gga->latitude, gga->lat_dir);
         gga->longitude = nmea_to_decimal(gga->longitude, gga->lon_dir);
     }
@@ -64,22 +64,22 @@ uint8_t parse_GGA(const char* data, GGA_Data* gga)
     return 0;
 }
 
-// ½âÎöGNVTGÓï¾ä
+// ??GNVTG??
 uint8_t parse_VTG(const char* data, VTG_Data* vtg)
 {
     char buffer[256];
     strncpy(buffer, data, sizeof(buffer));
-    buffer[sizeof(buffer)-1] = '\0'; // È·±£×Ö·û´®ÖÕÖ¹
+    buffer[sizeof(buffer)-1] = '\0'; // ???????
     char* token = strtok(buffer, ",");
     int field_index = 0;
 
     while (token != NULL) {
         switch (field_index) {
-            case 1: vtg->course_true = atof(token); break;   // Õæ±±º½Ïò
-            case 3: vtg->course_magnetic = atof(token); break; // ´Å±±º½Ïò
-            case 5: vtg->speed_knots = atof(token); break;    // Ëٶȣ¨½Ú£©
-            case 7: vtg->speed_kmh = atof(token); break;      // Ëٶȣ¨km/h£©
-            case 9: vtg->mode = token[0]; break;              // ģʽָʾ
+            case 1: vtg->course_true = atof(token); break;   // ????
+            case 3: vtg->course_magnetic = atof(token); break; // ????
+            case 5: vtg->speed_knots = atof(token); break;    // ?????
+            case 7: vtg->speed_kmh = atof(token); break;      // ???km/h?
+            case 9: vtg->mode = token[0]; break;              // ????
         }
         token = strtok(NULL, ",");
         field_index++;
@@ -87,7 +87,7 @@ uint8_t parse_VTG(const char* data, VTG_Data* vtg)
     return 0;
 }
 
-// ½âÎöGNTHSÓï¾ä
+// ??GNTHS??
 uint8_t parse_THS(const char* data, THS_Data* ths)
 {
     char buffer[128];
@@ -98,13 +98,13 @@ uint8_t parse_THS(const char* data, THS_Data* ths)
 
     while (token != NULL) {
         switch (field_index) {
-            case 1:  // º½Ïò×ֶΣ¨Ê¾ÀýÖµ£º341.3344£©
+            case 1:  // ?????????341.3344?
                 ths->heading = atof(token);
                 break;
-            case 2:  // ģʽ×ֶΣ¨Ê¾ÀýÖµ£ºA£©
+            case 2:  // ?????????A?
                 ths->mode = token[0];
                 break;
-            // ÆäËû×ֶΣ¨Ð£ÑéºÍµÈ£©¸ù¾ÝÐèÇóÀ©Õ¹
+            // ????????????????
         }
         token = strtok(NULL, ",");
         field_index++;
@@ -118,18 +118,18 @@ uint8_t parse_THS(const char* data, THS_Data* ths)
 
 void nmeaProcess(void *signal_id)
 {
-    (void)signal_id; // ±ê¼Ç±äÁ¿ÎªÒÑʹÓ㬱ÜÃâ±àÒëÆ÷¾¯¸æ
+    (void)signal_id; // ????????????????
 
 //    printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
-//    printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//ʹÓô®¿Ú´òÓ¡¼ÓËٶȣ¬½ÇËÙ¶ÈÊý¾Ý
+//    printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//???????????????
 
-    // if (!nmea_validate_checksum(&nema_output1.buffer[nema_output1.active_buf^1][0])) //УÑé´úÂë
+    // if (!nmea_validate_checksum(&nema_output1.buffer[nema_output1.active_buf^1][0])) //????
     // {
     //     printf("NMEA CRC Failed");
     //     return;
     // } 
 
-    // ÅжϺó3¸ö×Ö·ûÊÇ·ñΪ"GGA"/"VTG"/"THS"
+    // ???3??????"GGA"/"VTG"/"THS"
     if(strncmp(&nema_output1.buffer[3], "GGA", 3) == 0) {
         nema_output1.frame_ready = 1;
     }
@@ -140,11 +140,11 @@ void nmeaProcess(void *signal_id)
         nema_output1.frame_ready = 3;
     }
     else
-    {  // ·ÇÄ¿±êЭÒéÔòÖØÖÃ
+    {  // ????????
         nema_output1.frame_ready = 0;
     }
 
-    // Ð޸ĺóµÄswitchÓï¾ä
+    // ????switch??
     switch(nema_output1.frame_ready)
     {
         case NMEA_TYPE_GGA:
@@ -152,9 +152,9 @@ void nmeaProcess(void *signal_id)
             if (0 == parse_GGA(&nema_output1.buffer[0], &gga_data1))
             {
 
-                navigation_output1.bit_data.lon = (int32_t) (gga_data1.longitude * 10000000); //20250426¶È·Öת»»Îª¶È10½øÖÆ
+                navigation_output1.bit_data.lon = (int32_t) (gga_data1.longitude * 10000000); //20250426??????10??
                 navigation_output1.bit_data.lat = (int32_t) (gga_data1.latitude * 10000000); 
-                navigation_output1.bit_data.high = (int32_t)(gga_data1.altitude * 1000);//À©´ó1000               
+                navigation_output1.bit_data.high = (int32_t)(gga_data1.altitude * 1000);//??1000               
 
                 navigation_output1.bit_data.rtk_state = gga_data1.fix_quality;//
                 
@@ -173,8 +173,8 @@ void nmeaProcess(void *signal_id)
 
             if (0 == parse_VTG(&nema_output1.buffer[0], &vtg_data1))
             {
-                navigation_output1.bit_data.gps_speed = (int16_t)(vtg_data1.speed_kmh*1000/3600*100);//ת»»Îªm/s À©´ó100±¶
-                // printf("[VTG] Course:%.1f¡ã Speed:%.1fkm/h\n",
+                navigation_output1.bit_data.gps_speed = (int16_t)(vtg_data1.speed_kmh*1000/3600*100);//???m/s ??100?
+                // printf("[VTG] Course:%.1f° Speed:%.1fkm/h\n",
                 //         vtg_data1.course_true, vtg_data1.speed_kmh);
             }
             else
@@ -187,8 +187,8 @@ void nmeaProcess(void *signal_id)
 
             if (0 == parse_THS(&nema_output1.buffer[0], &ths_data1))
             {
-                navigation_output1.bit_data.dual_antenna_heading = (int16_t)(ths_data1.heading*100);// À©´ó100±¶               
-                // printf("[THS] Heading:%.1f¡ã Mode:%c\n",
+                navigation_output1.bit_data.dual_antenna_heading = (int16_t)(ths_data1.heading*100);// ??100?               
+                // printf("[THS] Heading:%.1f° Mode:%c\n",
                 //         ths_data1.heading, ths_data1.mode);
             }
             else
@@ -197,13 +197,13 @@ void nmeaProcess(void *signal_id)
             }
             break;
 
-        default:  // ´¦Àíδ֪ÀàÐÍ
+        default:  // ??????
 //            printf("Unknown NMEA frame type\n");
             break;
     }
 }
 
-unsigned short NumCheak(unsigned char *data,unsigned char len)//ºÍУÑé¼ÆËã
+unsigned short NumCheak(unsigned char *data,unsigned char len)//?????
 {
     unsigned short NUM=0;
     unsigned char i;
@@ -214,9 +214,16 @@ unsigned short NumCheak(unsigned char *data,unsigned char len)//
     return NUM;
 }
 
+// ?????????0-56?
+uint8_t calculate_checksum(const uint8_t* data, uint8_t len) {
+    uint8_t checksum = 0;
+    for (size_t i = 0; i < len; ++i) {
+        checksum ^= data[i];
+    }
+    return checksum;
+}
 
-
-uint16_t yis321Cheak(unsigned char *data,unsigned char len)//ºÍУÑé¼ÆËã
+uint16_t yis321Cheak(unsigned char *data,unsigned char len)//?????
 {
     uint8_t CK1 = 0;
     uint8_t CK2 = 0;
@@ -301,7 +308,7 @@ void imuInput(void *signal_id)
             {    
                 memcpy(&yis321_data.arr[0],&imu_buffer1.dma_buffer[imu_buffer1.active_buf^1][0],sizeof(UnInfProtocolFrame));
 
-                //¾«¶Èת»»
+                //????
                 Acc[0] = (float)((int32_t)yis321_data.bit_data.acc_x)*0.000001f;
                 Acc[1] = (float)((int32_t)yis321_data.bit_data.acc_y)*0.000001f;
                 Acc[2] = (float)((int32_t)yis321_data.bit_data.acc_z)*0.000001f;
@@ -368,25 +375,25 @@ void iim6234Init(void *signal_id)
 
 void nmeaPrintf(void *signal_id)
 {
-    printf("[THS] Heading:%.1f¡ã Mode:%c\n",
+    printf("[THS] Heading:%.1f° Mode:%c\n",
             ths_data1.heading, ths_data1.mode);
-    printf("[VTG] Course:%.1f¡ã Speed:%.1fkm/h\n",
+    printf("[VTG] Course:%.1f° Speed:%.1fkm/h\n",
             vtg_data1.course_true, vtg_data1.speed_kmh);
 
     printf("[GGA] Time:%.2f Lat:%.5f%c Lon:%.5f%c Alt:%.2f rtk_state:%d satellite:%d hdop:%2f\n",
         gga_data1.utc_time, 
         gga_data1.latitude, gga_data1.lat_dir,
         gga_data1.longitude, gga_data1.lon_dir,
-        gga_data1.altitude,  // ¼ÙÉè¸ß¶Èµ¥Î»ÎªM(Ã×)
+        gga_data1.altitude,  // ???????M(?)
         gga_data1.fix_quality,
         gga_data1.satellites,
         gga_data1.hdop      
         );
 
-    printf("ËÄÔªÊý: (%.6f, %.6f, %.6f, %.6f)\n", 
+    printf("???: (%.6f, %.6f, %.6f, %.6f)\n", 
            yis321_data.bit_data.q0*0.000001,  yis321_data.bit_data.q1*0.000001,  yis321_data.bit_data.q2*0.000001,  (int32_t)yis321_data.bit_data.q3*0.000001);
 
-    printf("Å·À­½Ç: (%.6f, %.6f, %.6f)\n", 
+    printf("???: (%.6f, %.6f, %.6f)\n", 
            yis321_data.bit_data.pitch*0.000001,  yis321_data.bit_data.roll*0.000001,  yis321_data.bit_data.yaw*0.000001);
 
     timerStart(&data_processing_timer, 1000,1);//100ms   
@@ -394,25 +401,25 @@ void nmeaPrintf(void *signal_id)
 
 
 /**
- * @brief ½«GGAʱ¼ä£¨HHMMSS.SSS¸ñʽµÄdouble£©×ª»»ÎªÐ­Òéʱ¼ä£¨U32£¬·Å´ó4000±¶£©
- * @param utc_time GGAʱ¼ä£¨Èç75049.00±íʾ07:50:49.00£©
- * @return uint32_t ЭÒéʱ¼ä£¨Êµ¼ÊÃëÊý = ·µ»ØÖµ / 4000£©
+ * @brief ?GGA???HHMMSS.SSS???double?????????U32???4000??
+ * @param utc_time GGA????75049.00??07:50:49.00?
+ * @return uint32_t ????????? = ??? / 4000?
  */
 uint32_t GgaTimeToProtocol(double utc_time) 
 {
-    // 1. ÌáÈ¡ÕûÊý²¿·ÖºÍСÊý²¿·Ö£¨±ÜÃ⸡µãÔËË㣩
+    // 1. ???????????????????
     uint32_t time_int = (uint32_t)utc_time;          // HHMMSS
-    uint32_t time_frac = (uint32_t)((utc_time - time_int) * 1000 + 0.5); // .SSS ¡ú ºÁÃ루ËÄÉáÎåÈ룩
+    uint32_t time_frac = (uint32_t)((utc_time - time_int) * 1000 + 0.5); // .SSS ? ????????
 
-    // 2. ·Ö½âHH¡¢MM¡¢SS
-    uint32_t hh = time_int / 10000;                  // Сʱ
-    uint32_t mm = (time_int % 10000) / 100;          // ·ÖÖÓ
-    uint32_t ss = time_int % 100;                     // Ãë
+    // 2. ??HH?MM?SS
+    uint32_t hh = time_int / 10000;                  // ??
+    uint32_t mm = (time_int % 10000) / 100;          // ??
+    uint32_t ss = time_int % 100;                     // ?
 
-    // 3. ¼ÆËã×ܺÁÃëÊý£¨HH*3600 + MM*60 + SS£©* 1000 + SSS
+    // 3. ???????HH*3600 + MM*60 + SS?* 1000 + SSS
     uint32_t total_ms = hh * 3600000 + mm * 60000 + ss * 1000 + time_frac;
 
-    // 4. ת»»ÎªÐ­Òéʱ¼ä£¨·Å´ó4000±¶£¬µÈ¼ÛÓÚ total_ms * 4£©
+    // 4. ??????????4000????? total_ms * 4?
     return total_ms * 4;
 }
 
@@ -429,7 +436,7 @@ void rs232Process(void *signal_id)
     navigation_rs232_output.bit_data.header3 = 0x0B;//0B
 
 
-//Å·À­½Ç
+//???
     float_temp = (float) (yis321_data.bit_data.roll)*0.000001;
     navigation_rs232_output.bit_data.roll = (int16_t) (float_temp*32768/360.0f);
 
@@ -439,7 +446,7 @@ void rs232Process(void *signal_id)
     float_temp = (float) (yis321_data.bit_data.yaw)*0.000001;
     navigation_rs232_output.bit_data.yaw = (int16_t) (float_temp*32768/360.0f);
 
-//ÍÓÂÝ
+//??
     float_temp = (float) (yis321_data.bit_data.gyro_x)*0.000001;
     navigation_rs232_output.bit_data.gyro_x = (int16_t) (float_temp*32768/300.0f);
 
@@ -449,7 +456,7 @@ void rs232Process(void *signal_id)
     float_temp = (float) (yis321_data.bit_data.gyro_z)*0.000001f;
     navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
 
-//¼ÓËÙ¶È
+//???
     float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f;
     navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
 
@@ -459,34 +466,38 @@ void rs232Process(void *signal_id)
     float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f;
     navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
 
-//gpsÐÅÏ¢
+//gps??
     navigation_rs232_output.bit_data.latitude = (int32_t) (gga_data1.latitude * 10000000);
     navigation_rs232_output.bit_data.longitude = (int32_t) (gga_data1.longitude * 10000000);
     navigation_rs232_output.bit_data.altitude = (int32_t) (gga_data1.altitude * 1000);
+    navigation_rs232_output.bit_data.init_status = 0xF;
     navigation_rs232_output.bit_data.rtk_status = gga_data1.fix_quality;
-    float_temp = (float)vtg_data1.speed_kmh/3.6f*100.0f;//ϵÊý100
+    float_temp = (float)vtg_data1.speed_kmh/3.6f*100.0f;//??100
     navigation_rs232_output.bit_data.gps_speed = (int16_t)float_temp; 
-    navigation_rs232_output.bit_data.dual_heading = (int16_t)(ths_data1.heading*100);// À©´ó100±¶;
+    navigation_rs232_output.bit_data.dual_heading = (int16_t)(ths_data1.heading*100);// ??100?;
+
+    navigation_rs232_output.bit_data.timestamp = GgaTimeToProtocol(gga_data1.utc_time);
+
+    navigation_rs232_output.bit_data.checksum = calculate_checksum(&navigation_rs232_output.arr[0],57);
 
-   navigation_rs232_output.bit_data.timestamp = GgaTimeToProtocol(gga_data1.utc_time);
 
     publishMessage(&navigation_rs232_output, 1);  
 
-    timerStart(&rs232_output_timer, 50,1);//50ms
+    timerStart(&rs232_output_timer, 10,1);//10ms
 }
 
 
-// APPÄ£¿éµÄ³õʼ»¯
+// APP??????
 void dataProcessingAppInit(void)
 {
-    // ³õʼ»¯¶¨Ê±Æ÷
+    // ??????
     timerInit(&iim6234_timer);
     timerInit(&rm3100_timer);
     timerInit(&data_processing_timer);
     timerInit(&rs232_output_timer);
 
-    rm3100Init();//³õʼ»¯RM3100
-    // ¶©ÔĶ¨Ê±Æ÷Ðźţ¬ÓÃÓÚ½âÎöGNGGAÊý¾Ý
+    rm3100Init();//???RM3100
+    // ????????????GNGGA??
     subscribe(&iim6234_timer, iim6234Init);
     subscribe(&rm3100_timer, rm3100Process);
     subscribe(&nema_output1, nmeaProcess);