diff --git a/README.md b/README.md
index 50485c0..91bc077 100644
--- a/README.md
+++ b/README.md
@@ -56,6 +56,7 @@
 | 2025-05-14 | 增加Shell控制台、增加串口2用于蓝牙  | 增加调试接口             |
 | 2025-05-16 | 更换芯片STM32F405         | 重新构建               |
 | 2025-05-19 | AI算法融合完毕，验证数据集可行      | 文件更新               |
+| 2025-05-20 | 新建AI线程 算法功能验证完成       | 线程增加               |
 
 ---
 
@@ -67,7 +68,7 @@
 
 - [ ] 传感器采集逻辑完成
 
-- [ ] BLE 通信模块开发完成
+- [ ] 无线模块开发完成
 
 - [x] RTOS 集成调通
 
diff --git a/XM-01/Core/Inc/myEdge_ai_app.h b/XM-01/Core/Inc/myEdge_ai_app.h
index c231479..91fa7ec 100644
--- a/XM-01/Core/Inc/myEdge_ai_app.h
+++ b/XM-01/Core/Inc/myEdge_ai_app.h
@@ -2,25 +2,46 @@
 #define MYEDGE_AI_APP_H
 
 #ifdef __cplusplus
-extern "C" {
-#endif 
+extern "C"
+{
+#endif
 #include "main.h"
 #include "app_x-cube-ai.h"
 
+    void PictureCharArrayToFloat(const uint8_t *srcBuf, float *dstBuf, int len);
+    void preprocess_data(const float *input, float *output, size_t length);
+    void aiRun(const void *in_data, void *out_data);
+    int AiModel(uint8_t *input);
+    int aiInit(void);
 
+    extern const uint8_t test[1024];
+    extern float inputBuf[1024];
 
-void PictureCharArrayToFloat(const uint8_t *srcBuf, float *dstBuf, int len);
-void preprocess_data(const float *input, float *output, size_t length);
-void aiRun(const void *in_data, void *out_data);
-int aiInit(void);
+    extern float aiInData[AI_MODEL_IN_1_SIZE];
+    extern float aiOutData[AI_MODEL_OUT_1_SIZE];
 
-extern const uint8_t test[1024];
-extern float inputBuf[1024];
+    typedef enum
+    {
+        AI_STATUS_IDLE = 0,  // 空闲状态
+        AI_STATUS_COMPLETED, // 完成推理
+        AI_STATUS_ERROR      // 发生错误
+    } ai_status_t;
 
+    typedef enum
+    {
+        POSTURE_SUPINE = 0, // 平躺
+        POSTURE_LEFT_SIDE,  // 左侧卧
+        POSTURE_RIGHT_SIDE  // 右侧卧
+    } posture_t;
 
+    typedef struct model_T
+    {
+        char result;        // 结果 观察枚举类型 0 平躺 1 左侧 2 右侧
+        char status;        // 状态 0 没有运算 1 运算完成
+        float confidence;   // 结果的置信率
+        float ai_output[3]; // 结果数组
+    } model_t;
 
-extern float aiInData[AI_MODEL_IN_1_SIZE];
-extern float aiOutData[AI_MODEL_OUT_1_SIZE];
 #ifdef __cplusplus
 }
 #endif
diff --git a/XM-01/Core/Src/main.c b/XM-01/Core/Src/main.c
index 00432fc..e34441e 100644
--- a/XM-01/Core/Src/main.c
+++ b/XM-01/Core/Src/main.c
@@ -91,30 +91,13 @@ int main(void)
   MX_USART2_UART_Init();
   MX_X_CUBE_AI_Init();
   /* USER CODE BEGIN 2 */
-  aiInit();
 
-  rt_kprintf("\n covFloat Start 1 Tick : %ld\n", rt_tick_get());
-  PictureCharArrayToFloat(test, inputBuf, 1024);
-  rt_kprintf("\n covFloat End 1 Tick : %ld\n", rt_tick_get());
-
-  rt_kprintf("\n alg Start 2 Tick : %ld\n", rt_tick_get());
-  preprocess_data((const float *)inputBuf, aiInData, 1024);
-  rt_kprintf("\n alg End 2 Tick : %ld\n", rt_tick_get());
-
-  rt_kprintf("\n ai Start 3 Tick : %ld\n", rt_tick_get());
-  aiRun(aiInData, aiOutData);
-  rt_kprintf("\n ai End 3 Tick : %ld\n", rt_tick_get());
-
-  for (int i = 0; i < AI_MODEL_OUT_1_SIZE; i++)
-  {
-    rt_kprintf("\n aiOutData[%d] = 0.%d\n", i, (int)(aiOutData[i] * 100.0f));
-  }
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
   while (1)
-  { 
+  {
     HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);
     rt_thread_mdelay(500);
     /* USER CODE END WHILE */
diff --git a/XM-01/Core/Src/myEdge_ai_app.c b/XM-01/Core/Src/myEdge_ai_app.c
index dd419bf..79e8a18 100644
--- a/XM-01/Core/Src/myEdge_ai_app.c
+++ b/XM-01/Core/Src/myEdge_ai_app.c
@@ -6,7 +6,12 @@
 #include "myEdge_ai_app.h"
 #include "app_x-cube-ai.h"
 
+model_t model;
 ai_handle network;
+
+ai_buffer *ai_input;
+ai_buffer *ai_output;
+
 AI_ALIGNED(32)
 float aiInData[AI_MODEL_IN_1_SIZE];
 
@@ -16,9 +21,6 @@ float aiOutData[AI_MODEL_OUT_1_SIZE];
 AI_ALIGNED(32)
 ai_u8 activations[AI_MODEL_DATA_ACTIVATIONS_SIZE];
 
-ai_buffer *ai_input;
-ai_buffer *ai_output;
-
 AI_ALIGNED(32)
 const uint8_t test[1024] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 14, 46, 99, 64, 42, 20, 7, 0, 0, 3, 5, 37, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 9, 18, 46, 178, 171, 223, 198, 210, 147, 30, 9, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 23, 56, 78, 79, 84, 62, 77, 109, 188, 138, 97, 61, 18, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 14, 35, 60, 78, 55, 30, 35, 33, 35, 6, 0, 7, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 0, 17, 25, 20, 16, 20, 5, 0, 5, 18, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 60, 32, 27, 23, 10, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6, 16, 46, 37, 46, 38, 12, 6, 0, 0, 0, 15, 4, 0, 0, 0, 0, 0, 0, 0, 0, 7, 0, 0, 0, 0, 0, 4, 0, 0, 0, 0, 7, 17, 51, 40, 45, 43, 49, 28, 15, 5, 6, 9, 11, 32, 11, 10, 37, 54, 15, 9, 24, 15, 10, 4, 4, 7, 10, 61, 0, 0, 0, 5, 12, 43, 52, 39, 61, 62, 36, 24, 13, 9, 5, 9, 18, 33, 30, 17, 55, 33, 37, 97, 100, 93, 37, 73, 53, 45, 24, 105, 0, 0, 0, 7, 23, 62, 85, 50, 58, 42, 38, 28, 18, 21, 11, 14, 20, 49, 59, 46, 68, 103, 118, 184, 72, 47, 24, 9, 26, 120, 0, 170, 0, 0, 4, 14, 53, 79, 88, 56, 80, 48, 43, 41, 23, 17, 13, 33, 39, 12, 6, 15, 45, 53, 31, 90, 105, 125, 59, 36, 32, 10, 9, 6, 0, 0, 3, 14, 25, 57, 83, 43, 26, 23, 16, 18, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 11, 39, 55, 26, 25, 24, 20, 17, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 29, 77, 58, 45, 29, 23, 38, 30, 8, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 18, 14, 32, 45, 51, 46, 56, 49, 32, 31, 26, 29, 7, 0, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 17, 95, 96, 93, 99, 104, 108, 88, 63, 130, 64, 35, 13, 5, 0, 0, 0, 0, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 21, 64, 89, 90, 90, 94, 104, 99, 84, 72, 31, 19, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 24, 64, 154, 128, 150, 179, 150, 167, 120, 76, 68, 33, 12, 10, 7, 14, 0, 0, 5, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 34, 85, 119, 70, 75, 131, 160, 152, 88, 54, 40, 28, 8, 5, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 42, 79, 51, 46, 59, 73, 72, 72, 100, 75, 89, 74, 42, 12, 5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6, 7, 15, 18, 18, 29, 40, 40, 36, 43, 56, 88, 57, 22, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 17, 40, 46, 57, 52, 53, 56, 65, 35, 11, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 36, 51, 85, 72, 73, 88, 67, 61, 49, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 19, 56, 55, 53, 28, 36, 39, 24, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 14, 35, 64, 79, 64, 89, 44, 7, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 22, 24, 53, 95, 92, 69, 20, 12, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6, 20, 73, 159, 109, 98, 34, 14, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 6, 22, 55, 51, 69, 49, 49, 23, 11, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 10, 33, 54, 64, 72, 66, 21, 13, 6, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 8, 18, 32, 35, 76, 64, 18, 9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 17, 15, 25, 25, 16, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 7, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
 
@@ -110,6 +112,7 @@ int aiInit(void)
     /* Reteive pointers to the model's input/output tensors */
     ai_input = ai_model_inputs_get(network, NULL);
     ai_output = ai_model_outputs_get(network, NULL);
+    rt_memset(&model, 0, sizeof(model));
     return 0;
 }
 /*
@@ -132,5 +135,81 @@ void aiRun(const void *in_data, void *out_data)
         err = ai_model_get_error(network);
         rt_kprintf("AI ai_network_run error - type=%d code=%d\r\n", err.type, err.code);
     }
-    ///////////////////////////////////////////////////////////////////////////////////
 }
+
+// 测试代码
+int AiModel(uint8_t *input)
+{
+    //
+    int res = 0;
+    rt_tick_t Start_Tick = 0;
+    rt_tick_t End_Tick = 0;
+    int predicted_class = 0;
+    float max_confidence = 0.0f;
+
+    rt_kprintf("\nStart Test Code\n");
+    PictureCharArrayToFloat(input, inputBuf, 1024);
+
+    preprocess_data((const float *)inputBuf, aiInData, 1024);
+
+    Start_Tick = rt_tick_get();
+    aiRun(aiInData, aiOutData);
+    End_Tick = rt_tick_get();
+
+    rt_kprintf("AI model UseTime : %ld ms\n", End_Tick - Start_Tick);
+    for (int i = 0; i < AI_MODEL_OUT_1_SIZE; i++)
+    {
+        if (aiOutData[i] > max_confidence)
+        {
+            max_confidence = aiOutData[i];
+            predicted_class = i;
+        }
+    }
+    res = predicted_class;
+    model.result = predicted_class;
+    model.confidence = max_confidence;
+    model.status = AI_STATUS_COMPLETED;
+    // Map class to posture name for debugging
+    const char *posture_names[] = {"Supine", "Left Side", "Right Side"};
+    rt_kprintf("Detected posture: %s (confidence: %d%%)\n",
+               posture_names[predicted_class], (int)(model.confidence * 100.0f));
+    rt_memcpy(model.ai_output, aiOutData, sizeof(aiOutData));
+    return res;
+}
+////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////
+
+/* 定义线程栈与控制块（静态分配） */
+#define AI_THREAD_STACK_SIZE 1024
+static struct rt_thread ai_thread;
+static rt_uint8_t ai_thread_stack[AI_THREAD_STACK_SIZE];
+
+/* 线程入口函数 */
+static void ai_thread_entry(void *parameter)
+{
+    aiInit();
+    while (1)
+    {
+        if (model.status == AI_STATUS_IDLE)
+            AiModel((uint8_t *)test);
+        rt_thread_mdelay(1000);
+    }
+}
+
+/* 初始化函数，使用静态线程启动 AI 运算 */
+int ai_thread_init(void)
+{
+    rt_thread_init(&ai_thread,              // 线程控制块
+                   "ai_task",               // 名称
+                   ai_thread_entry,         // 入口函数
+                   RT_NULL,                 // 参数
+                   &ai_thread_stack[0],     // 栈起始地址
+                   sizeof(ai_thread_stack), // 栈大小
+                   20,                      // 优先级
+                   10);                     // 时间片
+    rt_thread_startup(&ai_thread);          // 启动线程
+    return 0;
+}
+INIT_APP_EXPORT(ai_thread_init);
diff --git a/XM-01/MDK-ARM/XM-01.uvguix.admin b/XM-01/MDK-ARM/XM-01.uvguix.admin
index 93b0563..6b47d40 100644
--- a/XM-01/MDK-ARM/XM-01.uvguix.admin
+++ b/XM-01/MDK-ARM/XM-01.uvguix.admin
@@ -110,8 +110,8 @@
     <MDIClientArea>
       <RegID>0</RegID>
       <MDITabState>
-        <Len>336</Len>
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+        <Len>804</Len>
+        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000006000000010000000100000031443A5C4A6F625F576F726B5C436F64655C315F584D5C584D2D30315C584D2D30315C436F72655C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF3A443A5C4A6F625F576F726B5C436F64655C315F584D5C584D2D30315C584D2D30315C436F72655C5372635C6D79456467655F61695F6170702E63000000000F6D79456467655F61695F6170702E6300000000FFDC7800FFFFFFFF60443A5C4A6F625F576F726B5C436F64655C315F584D5C584D2D30315C584D2D30315C4D6964646C6577617265735C54686972645F50617274795C5265616C5468726561645F52544F535F52542D5468726561645C7372635C7468726561642E6300000000087468726561642E6300000000BECEA100FFFFFFFF36443A5C4A6F625F576F726B5C436F64655C315F584D5C584D2D30315C584D2D30315C52542D5468726561645C7274636F6E6669672E68000000000A7274636F6E6669672E6800000000F0A0A100FFFFFFFF5F443A5C4A6F625F576F726B5C436F64655C315F584D5C584D2D30315C584D2D30315C4D6964646C6577617265735C54686972645F50617274795C5265616C5468726561645F52544F535F52542D5468726561645C7372635C74696D65722E63000000000774696D65722E6300000000BCA8E100FFFFFFFF77443A5C4A6F625F576F726B5C436F64655C315F584D5C584D2D30315C584D2D30315C4D6964646C6577617265735C54686972645F50617274795C5265616C5468726561645F52544F535F52542D5468726561645C6273705C5F74656D706C6174655C637562656D785F636F6E6669675C626F6172642E630000000007626F6172642E63000000009CC1B600FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD50001000000000000000200000093F9FFFFA20100000000000055040000</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1805,8 +1805,8 @@
         <RegID>59392</RegID>
         <Name>File</Name>
         <Buttons>
-          <Len>2939</Len>
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diff --git a/资料/协议文档/腰部传感器模块通讯协议(1).pdf b/资料/协议文档/CAN总线通讯协议.pdf
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rename to 资料/协议文档/CAN总线通讯协议.pdf
diff --git a/资料/协议文档/床垫串口协议.docx b/资料/协议文档/床垫串口协议.docx
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diff --git a/资料/算法文件/mcu_controller.c b/资料/算法文件/mcu_controller.c
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+++ b/资料/算法文件/mcu_controller.c
@@ -0,0 +1,836 @@
+/**
+ * MCU Mattress Controller - C Implementation
+ * 
+ * This program implements sleep posture detection and mattress control for MCUs.
+ * It uses TensorFlow Lite for Microcontrollers for inference.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+#include <math.h>
+#include <time.h>
+#include <pthread.h>
+#include "tensorflow/lite/micro/all_ops_resolver.h"
+#include "tensorflow/lite/micro/micro_error_reporter.h"
+#include "tensorflow/lite/micro/micro_interpreter.h"
+#include "tensorflow/lite/schema/schema_generated.h"
+
+// If model data is included as a C array
+#include "model_tflite.h" // Replace with your model header
+
+// Constants for mode definitions
+#define MODE_MANUAL     0
+#define MODE_ADAPTIVE   1
+#define MODE_PREVENTION 2
+#define MODE_ABAB       3
+#define MODE_TURNING    4
+#define MODE_FLOATING   5
+
+// Command codes from remote controller
+#define CMD_STOP           0x00
+#define CMD_ADAPTIVE_MODE  0x01
+#define CMD_PREVENTION_MODE 0x02
+#define CMD_ABAB_MODE      0x03
+#define CMD_TURNING_MODE   0x04
+#define CMD_FLOATING_MODE  0x05
+#define CMD_DETECT_POSTURE 0x06
+
+// Posture definitions
+#define POSTURE_SUPINE 0  // Supine (back)
+#define POSTURE_LEFT   1  // Left side
+#define POSTURE_RIGHT  2  // Right side
+
+// Serial port defines - platform specific
+#define MATTRESS_PORT "/dev/ttyS1"
+#define SENSOR_PORT   "/dev/ttyS2"
+#define REMOTE_PORT   "/dev/ttyS0"
+
+// Data structures
+typedef struct {
+    int posture_index;
+    float confidence;
+    bool success;
+} PostureResult;
+
+typedef struct {
+    // Serial handles
+    void* mattress_ser;
+    void* sensor_ser;
+    void* remote_ser;
+    
+    // Thread management
+    pthread_t running_threads[5]; // Support up to 5 concurrent threads
+    int thread_count;
+    pthread_mutex_t thread_mutex;
+    bool stop_event;
+    
+    // TFLite model
+    tflite::MicroErrorReporter error_reporter;
+    tflite::AllOpsResolver resolver;
+    const tflite::Model* model;
+    tflite::MicroInterpreter* interpreter;
+    TfLiteTensor* input_tensor;
+    TfLiteTensor* output_tensor;
+    bool model_loaded;
+    bool is_quantized;
+    
+    // Device ID bytes for mattress commands
+    uint8_t id_bytes[4];
+    
+    // Current posture tracking
+    int current_posture;
+    float confidence;
+    
+    // Memory buffer for TensorFlow Lite arena
+    uint8_t tensor_arena[128 * 1024]; // 128KB tensor arena
+} MCUController;
+
+// Forward declarations for threading
+void* adaptive_thread_func(void* arg);
+void* prevention_thread_func(void* arg);
+void* abab_thread_func(void* arg);
+void* turning_thread_func(void* arg);
+void* floating_thread_func(void* arg);
+
+// Serial communication stubs (platform-specific implementations needed)
+bool serial_open(void** handle, const char* port, int baudrate);
+void serial_close(void* handle);
+bool serial_write(void* handle, const uint8_t* data, size_t length);
+int serial_read(void* handle, uint8_t* buffer, size_t max_length);
+int serial_available(void* handle);
+
+/**
+ * Initialize the controller
+ */
+bool controller_init(MCUController* controller) {
+    memset(controller, 0, sizeof(MCUController));
+    
+    // Initialize mutex
+    pthread_mutex_init(&controller->thread_mutex, NULL);
+    
+    // Initialize device ID bytes
+    controller->id_bytes[0] = 0x01;
+    controller->id_bytes[1] = 0x02;
+    controller->id_bytes[2] = 0x03;
+    controller->id_bytes[3] = 0x04;
+    
+    // Load TFLite model
+    controller->model = tflite::GetModel(g_model_tflite); // Use the model data from header
+    if (controller->model->version() != TFLITE_SCHEMA_VERSION) {
+        printf("Model schema version mismatch!\n");
+        return false;
+    }
+    
+    // Create interpreter
+    static tflite::MicroInterpreter static_interpreter(
+        controller->model, 
+        controller->resolver,
+        controller->tensor_arena, 
+        sizeof(controller->tensor_arena),
+        &controller->error_reporter);
+    
+    controller->interpreter = &static_interpreter;
+    
+    // Allocate tensors
+    TfLiteStatus allocate_status = controller->interpreter->AllocateTensors();
+    if (allocate_status != kTfLiteOk) {
+        printf("Failed to allocate tensors!\n");
+        return false;
+    }
+    
+    // Get input and output tensors
+    controller->input_tensor = controller->interpreter->input(0);
+    controller->output_tensor = controller->interpreter->output(0);
+    
+    // Check if model is quantized
+    controller->is_quantized = controller->input_tensor->type == kTfLiteInt8;
+    
+    printf("Model loaded successfully\n");
+    printf("Model is %s\n", controller->is_quantized ? "quantized" : "floating-point");
+    
+    controller->model_loaded = true;
+    return true;
+}
+
+/**
+ * Connect to mattress
+ */
+bool connect_mattress(MCUController* controller, const char* port, int baudrate) {
+    // Close existing connection if any
+    if (controller->mattress_ser) {
+        serial_close(controller->mattress_ser);
+        controller->mattress_ser = NULL;
+    }
+    
+    // Open new connection
+    if (serial_open(&controller->mattress_ser, port, baudrate)) {
+        printf("Connected to mattress on %s\n", port);
+        return true;
+    } else {
+        printf("Failed to connect to mattress on %s\n", port);
+        return false;
+    }
+}
+
+/**
+ * Connect to sensor
+ */
+bool connect_sensor(MCUController* controller, const char* port, int baudrate) {
+    // Close existing connection if any
+    if (controller->sensor_ser) {
+        serial_close(controller->sensor_ser);
+        controller->sensor_ser = NULL;
+    }
+    
+    // Open new connection
+    if (serial_open(&controller->sensor_ser, port, baudrate)) {
+        printf("Connected to sensor on %s\n", port);
+        return true;
+    } else {
+        printf("Failed to connect to sensor on %s\n", port);
+        return false;
+    }
+}
+
+/**
+ * Disconnect from all devices
+ */
+void disconnect_all(MCUController* controller) {
+    // Stop all running threads
+    stop_current_mode(controller);
+    
+    // Close serial connections
+    if (controller->mattress_ser) {
+        serial_close(controller->mattress_ser);
+        controller->mattress_ser = NULL;
+    }
+    
+    if (controller->sensor_ser) {
+        serial_close(controller->sensor_ser);
+        controller->sensor_ser = NULL;
+    }
+    
+    if (controller->remote_ser) {
+        serial_close(controller->remote_ser);
+        controller->remote_ser = NULL;
+    }
+}
+
+/**
+ * Read pressure data from sensor
+ */
+bool read_pressure_data(MCUController* controller, float* data, size_t data_size) {
+    if (!controller->sensor_ser) {
+        printf("Sensor not connected\n");
+        return false;
+    }
+    
+    // Send command to request data
+    uint8_t cmd[] = {0xAA, 0x01, 0xBB};
+    serial_write(controller->sensor_ser, cmd, sizeof(cmd));
+    
+    // Wait for response
+    struct timespec ts;
+    ts.tv_sec = 0;
+    ts.tv_nsec = 100000000; // 100ms
+    nanosleep(&ts, NULL);
+    
+    // Calculate expected data size (1024 float values = 4096 bytes)
+    size_t expected_bytes = data_size * sizeof(float);
+    
+    // Check if enough data is available
+    if (serial_available(controller->sensor_ser) >= expected_bytes) {
+        // Read raw bytes
+        uint8_t raw_data[expected_bytes];
+        size_t bytes_read = serial_read(controller->sensor_ser, raw_data, expected_bytes);
+        
+        if (bytes_read == expected_bytes) {
+            // Convert raw bytes to float array
+            memcpy(data, raw_data, expected_bytes);
+            return true;
+        } else {
+            printf("Incomplete data: got %zu bytes, expected %zu\n", bytes_read, expected_bytes);
+        }
+    } else {
+        printf("Insufficient data: %d bytes available\n", serial_available(controller->sensor_ser));
+    }
+    
+    return false;
+}
+
+/**
+ * Preprocess the raw sensor data
+ */
+void preprocess_data(const float* raw_data, float* processed_data, size_t data_size) {
+    const float clip_min = 0.0f;
+    const float clip_max = 300.0f;
+    const float epsilon = 1e-6f;
+    
+    // Calculate mean and std_dev
+    float sum = 0.0f;
+    float sum_sq = 0.0f;
+    
+    // First pass: calculate mean
+    for (size_t i = 0; i < data_size; i++) {
+        // Apply clipping
+        float value = raw_data[i];
+        if (value < clip_min) value = clip_min;
+        if (value > clip_max) value = clip_max;
+        
+        // Sqrt(x+1)
+        value = sqrtf(value + 1.0f);
+        
+        // Accumulate for mean calculation
+        sum += value;
+        sum_sq += value * value;
+    }
+    
+    float mean = sum / data_size;
+    float variance = (sum_sq / data_size) - (mean * mean);
+    float std_dev = sqrtf(variance) + epsilon;
+    
+    // Second pass: apply normalization, tanh, and scaling
+    for (size_t i = 0; i < data_size; i++) {
+        // Apply clipping
+        float value = raw_data[i];
+        if (value < clip_min) value = clip_min;
+        if (value > clip_max) value = clip_max;
+        
+        // Sqrt(x+1)
+        value = sqrtf(value + 1.0f);
+        
+        // Normalize
+        value = (value - mean) / std_dev;
+        
+        // Apply tanh
+        value = tanhf(value);
+        
+        // Scale to [0,1]
+        value = (value + 1.0f) / 2.0f;
+        
+        processed_data[i] = value;
+    }
+}
+
+/**
+ * Detect sleep posture from sensor data
+ */
+PostureResult detect_posture(MCUController* controller) {
+    PostureResult result = {0};
+    result.success = false;
+    
+    if (!controller->model_loaded) {
+        printf("Model not loaded\n");
+        return result;
+    }
+    
+    // Read pressure data
+    float raw_data[1024];
+    if (!read_pressure_data(controller, raw_data, 1024)) {
+        printf("Failed to read pressure data\n");
+        return result;
+    }
+    
+    // Preprocess data
+    float processed_data[1024];
+    preprocess_data(raw_data, processed_data, 1024);
+    
+    // Copy data to input tensor
+    if (controller->is_quantized) {
+        // For quantized model, quantize the input
+        int8_t* input_data = controller->input_tensor->data.int8;
+        float input_scale = controller->input_tensor->params.scale;
+        int input_zero_point = controller->input_tensor->params.zero_point;
+        
+        for (int i = 0; i < 1024; i++) {
+            input_data[i] = (int8_t)(processed_data[i] / input_scale + input_zero_point);
+        }
+    } else {
+        // For float model, copy directly
+        float* input_data = controller->input_tensor->data.f;
+        memcpy(input_data, processed_data, 1024 * sizeof(float));
+    }
+    
+    // Run inference
+    TfLiteStatus invoke_status = controller->interpreter->Invoke();
+    if (invoke_status != kTfLiteOk) {
+        printf("Invoke failed\n");
+        return result;
+    }
+    
+    // Get output
+    float output_values[3]; // Assuming 3 classes
+    
+    if (controller->is_quantized) {
+        // Dequantize output for quantized model
+        int8_t* output_data = controller->output_tensor->data.int8;
+        float output_scale = controller->output_tensor->params.scale;
+        int output_zero_point = controller->output_tensor->params.zero_point;
+        
+        for (int i = 0; i < 3; i++) {
+            output_values[i] = (output_data[i] - output_zero_point) * output_scale;
+        }
+    } else {
+        // Copy output for float model
+        float* output_data = controller->output_tensor->data.f;
+        memcpy(output_values, output_data, 3 * sizeof(float));
+    }
+    
+    // Find predicted class and confidence
+    int predicted_class = 0;
+    float max_confidence = output_values[0];
+    
+    for (int i = 1; i < 3; i++) {
+        if (output_values[i] > max_confidence) {
+            max_confidence = output_values[i];
+            predicted_class = i;
+        }
+    }
+    
+    // Set result
+    result.posture_index = predicted_class;
+    result.confidence = max_confidence * 100.0f; // Convert to percentage
+    result.success = true;
+    
+    // Store current posture and confidence
+    controller->current_posture = predicted_class;
+    controller->confidence = result.confidence;
+    
+    // Map class to posture name for debugging
+    const char* posture_names[] = {"Supine", "Left Side", "Right Side"};
+    printf("Detected posture: %s (confidence: %.1f%%)\n", 
+           posture_names[predicted_class], result.confidence);
+    
+    return result;
+}
+
+/**
+ * Send command to the mattress controller
+ */
+bool send_mattress_command(MCUController* controller, uint8_t mode_byte, uint8_t* args, size_t args_length) {
+    if (!controller->mattress_ser) {
+        printf("Mattress not connected\n");
+        return false;
+    }
+    
+    // Create command packet
+    uint8_t packet[20]; // Allocate enough space for command
+    size_t packet_index = 0;
+    
+    // Start byte
+    packet[packet_index++] = 0xAA;
+    
+    // Mode byte
+    packet[packet_index++] = mode_byte;
+    
+    // Parameter bytes
+    for (size_t i = 0; i < args_length && packet_index < 14; i++) {
+        packet[packet_index++] = args[i];
+    }
+    
+    // Pad to fixed length if needed
+    while (packet_index < 14) {
+        packet[packet_index++] = 0x00;
+    }
+    
+    // Add ID bytes
+    for (int i = 0; i < 4; i++) {
+        packet[packet_index++] = controller->id_bytes[i];
+    }
+    
+    // End byte
+    packet[packet_index++] = 0xBB;
+    
+    // Send packet
+    if (serial_write(controller->mattress_ser, packet, packet_index)) {
+        printf("Sent mattress command: mode=%d\n", mode_byte);
+        return true;
+    } else {
+        printf("Failed to send mattress command\n");
+        return false;
+    }
+}
+
+/**
+ * Stop the current operating mode
+ */
+bool stop_current_mode(MCUController* controller) {
+    // Set stop event
+    controller->stop_event = true;
+    
+    // Wait for threads to finish (simple implementation)
+    // In a real-time system, you would use proper thread joining with timeout
+    struct timespec ts;
+    ts.tv_sec = 1;
+    ts.tv_nsec = 0;
+    nanosleep(&ts, NULL);
+    
+    // Reset thread count and stop event
+    pthread_mutex_lock(&controller->thread_mutex);
+    controller->thread_count = 0;
+    controller->stop_event = false;
+    pthread_mutex_unlock(&controller->thread_mutex);
+    
+    // Send stop command to mattress
+    if (controller->mattress_ser) {
+        uint8_t args[1] = {0};
+        send_mattress_command(controller, MODE_MANUAL, args, 0);
+    }
+    
+    return true;
+}
+
+/**
+ * Run adaptive mode based on posture detection
+ */
+bool run_adaptive_mode(MCUController* controller, int detection_interval, int runtime) {
+    if (!controller->mattress_ser || !controller->sensor_ser) {
+        printf("Both mattress and sensor must be connected\n");
+        return false;
+    }
+    
+    // Stop any current mode
+    stop_current_mode(controller);
+    
+    // Create thread arguments (allocated on heap to avoid stack issues)
+    typedef struct {
+        MCUController* controller;
+        int detection_interval;
+        int runtime;
+    } AdaptiveArgs;
+    
+    AdaptiveArgs* args = (AdaptiveArgs*)malloc(sizeof(AdaptiveArgs));
+    args->controller = controller;
+    args->detection_interval = detection_interval;
+    args->runtime = runtime;
+    
+    // Start adaptive thread
+    pthread_mutex_lock(&controller->thread_mutex);
+    
+    if (controller->thread_count >= 5) {
+        printf("Too many threads running\n");
+        pthread_mutex_unlock(&controller->thread_mutex);
+        free(args);
+        return false;
+    }
+    
+    pthread_t thread;
+    if (pthread_create(&thread, NULL, adaptive_thread_func, args) != 0) {
+        printf("Failed to create adaptive thread\n");
+        pthread_mutex_unlock(&controller->thread_mutex);
+        free(args);
+        return false;
+    }
+    
+    controller->running_threads[controller->thread_count++] = thread;
+    pthread_mutex_unlock(&controller->thread_mutex);
+    
+    printf("Started adaptive mode\n");
+    return true;
+}
+
+// Implementation of adaptive thread function
+void* adaptive_thread_func(void* arg) {
+    typedef struct {
+        MCUController* controller;
+        int detection_interval;
+        int runtime;
+    } AdaptiveArgs;
+    
+    AdaptiveArgs* args = (AdaptiveArgs*)arg;
+    MCUController* controller = args->controller;
+    int detection_interval = args->detection_interval;
+    int runtime = args->runtime;
+    
+    // Free args struct - we've copied the data
+    free(args);
+    
+    printf("Adaptive thread starting (interval=%d, runtime=%d)\n", detection_interval, runtime);
+    
+    int adjustment_count = 0;
+    time_t start_time = time(NULL);
+    
+    while (!controller->stop_event) {
+        // Check if runtime exceeded
+        time_t current_time = time(NULL);
+        int elapsed_time = (int)(current_time - start_time);
+        
+        if (elapsed_time >= runtime) {
+            printf("Adaptive mode completed after %d seconds\n", elapsed_time);
+            break;
+        }
+        
+        // Calculate progress percentage
+        int progress = (elapsed_time * 100) / runtime;
+        printf("Adaptive mode progress: %d%%\n", progress);
+        
+        // Detect current posture
+        PostureResult result = detect_posture(controller);
+        
+        if (result.success) {
+            int posture_index = result.posture_index;
+            float confidence = result.confidence;
+            
+            // Only adjust if confidence is high enough
+            if (confidence >= 70.0f) {
+                uint8_t args[4];
+                
+                // Adjust mattress based on posture
+                if (posture_index == POSTURE_SUPINE) {
+                    // Supine: neutral position
+                    args[0] = 50;
+                    args[1] = 50;
+                    args[2] = 50;
+                    args[3] = 50;
+                } else if (posture_index == POSTURE_LEFT) {
+                    // Left side: adjust for comfort
+                    args[0] = 70;
+                    args[1] = 40;
+                    args[2] = 70;
+                    args[3] = 40;
+                } else if (posture_index == POSTURE_RIGHT) {
+                    // Right side: adjust for comfort
+                    args[0] = 40;
+                    args[1] = 70;
+                    args[2] = 40;
+                    args[3] = 70;
+                }
+                
+                send_mattress_command(controller, MODE_MANUAL, args, 4);
+                adjustment_count++;
+                
+                const char* posture_names[] = {"Supine", "Left Side", "Right Side"};
+                printf("Adjusted mattress for %s (adjustment #%d)\n", 
+                       posture_names[posture_index], adjustment_count);
+            } else {
+                printf("Low confidence (%.1f%%), no adjustment made\n", confidence);
+            }
+        } else {
+            printf("Posture detection failed, no adjustment made\n");
+        }
+        
+        // Wait for next detection interval or until stopped
+        for (int i = 0; i < detection_interval && !controller->stop_event; i++) {
+            struct timespec ts;
+            ts.tv_sec = 1;
+            ts.tv_nsec = 0;
+            nanosleep(&ts, NULL);
+        }
+    }
+    
+    // Reset to manual mode when finished
+    if (!controller->stop_event) {
+        uint8_t args[1] = {0};
+        send_mattress_command(controller, MODE_MANUAL, args, 0);
+        printf("Adaptive mode completed\n");
+    } else {
+        printf("Adaptive mode stopped\n");
+    }
+    
+    return NULL;
+}
+
+/**
+ * Process a command from the remote controller
+ */
+bool process_remote_command(MCUController* controller, uint8_t command_byte, uint8_t param1, uint8_t param2) {
+    printf("Processing remote command: cmd=%d, param1=%d, param2=%d\n", command_byte, param1, param2);
+    
+    switch (command_byte) {
+        case CMD_STOP:
+            return stop_current_mode(controller);
+            
+        case CMD_ADAPTIVE_MODE: {
+            // param1: interval in minutes, param2: runtime in hours
+            int interval = param1 > 0 ? param1 * 60 : 300;
+            int runtime = param2 > 0 ? param2 * 3600 : 3600;
+            return run_adaptive_mode(controller, interval, runtime);
+        }
+            
+        case CMD_PREVENTION_MODE: {
+            // Implementation would be similar to adaptive mode
+            printf("Prevention mode not fully implemented\n");
+            return false;
+        }
+            
+        case CMD_ABAB_MODE: {
+            // Implementation would be similar to adaptive mode
+            printf("ABAB mode not fully implemented\n");
+            return false;
+        }
+            
+        case CMD_TURNING_MODE: {
+            // Implementation would be similar to adaptive mode
+            printf("Turning mode not fully implemented\n");
+            return false;
+        }
+            
+        case CMD_FLOATING_MODE: {
+            // Implementation would be similar to adaptive mode
+            printf("Floating mode not fully implemented\n");
+            return false;
+        }
+            
+        case CMD_DETECT_POSTURE: {
+            // Just detect and report posture
+            PostureResult result = detect_posture(controller);
+            return result.success;
+        }
+            
+        default:
+            printf("Unknown command: %d\n", command_byte);
+            return false;
+    }
+}
+
+/**
+ * Listen for remote controller commands
+ */
+void* remote_listener_thread(void* arg) {
+    MCUController* controller = (MCUController*)arg;
+    
+    // Buffer for received bytes
+    uint8_t buffer[16];
+    int buffer_index = 0;
+    
+    while (1) {
+        // Check if data is available
+        if (serial_available(controller->remote_ser) > 0) {
+            // Read one byte
+            uint8_t byte;
+            if (serial_read(controller->remote_ser, &byte, 1) == 1) {
+                buffer[buffer_index++] = byte;
+                
+                // Check for complete command (3 bytes)
+                if (buffer_index >= 3) {
+                    // Process command
+                    uint8_t cmd = buffer[0];
+                    uint8_t param1 = buffer[1];
+                    uint8_t param2 = buffer[2];
+                    
+                    printf("Received command: %d %d %d\n", cmd, param1, param2);
+                    
+                    // Process the command
+                    process_remote_command(controller, cmd, param1, param2);
+                    
+                    // Clear buffer
+                    buffer_index = 0;
+                }
+            }
+        }
+        
+        // Small delay to prevent CPU overuse
+        struct timespec ts;
+        ts.tv_sec = 0;
+        ts.tv_nsec = 10000000; // 10ms
+        nanosleep(&ts, NULL);
+    }
+    
+    return NULL;
+}
+
+/**
+ * Start remote controller listener
+ */
+bool start_remote_listener(MCUController* controller, const char* port, int baudrate) {
+    // Connect to remote controller
+    if (controller->remote_ser) {
+        serial_close(controller->remote_ser);
+        controller->remote_ser = NULL;
+    }
+    
+    if (!serial_open(&controller->remote_ser, port, baudrate)) {
+        printf("Failed to connect to remote controller on %s\n", port);
+        return false;
+    }
+    
+    printf("Connected to remote controller on %s\n", port);
+    
+    // Start listener thread
+    pthread_t thread;
+    if (pthread_create(&thread, NULL, remote_listener_thread, controller) != 0) {
+        printf("Failed to create remote listener thread\n");
+        serial_close(controller->remote_ser);
+        controller->remote_ser = NULL;
+        return false;
+    }
+    
+    // Make thread detached so it cleans up automatically
+    pthread_detach(thread);
+    
+    return true;
+}
+
+/**
+ * Main entry point
+ */
+int main() {
+    // Create controller
+    MCUController controller;
+    
+    printf("Initializing MCU Mattress Controller...\n");
+    
+    // Initialize controller
+    if (!controller_init(&controller)) {
+        printf("Failed to initialize controller\n");
+        return 1;
+    }
+    
+    // Connect to devices
+    connect_mattress(&controller, MATTRESS_PORT, 115200);
+    connect_sensor(&controller, SENSOR_PORT, 115200);
+    
+    // Start remote controller listener
+    start_remote_listener(&controller, REMOTE_PORT, 9600);
+    
+    // Main loop
+    printf("Controller running...\n");
+    
+    // In a real implementation, you might need some form of
+    // application main loop here. For simplicity, we just sleep.
+    while (1) {
+        struct timespec ts;
+        ts.tv_sec = 1;
+        ts.tv_nsec = 0;
+        nanosleep(&ts, NULL);
+    }
+    
+    // Clean up (unreachable in this simple example)
+    disconnect_all(&controller);
+    
+    return 0;
+}
+
+// Platform-specific serial communication implementations would go here
+// These are just stubs and would need to be implemented for your specific platform
+
+bool serial_open(void** handle, const char* port, int baudrate) {
+    // Implementation depends on your platform (UART, USART, etc.)
+    printf("Opening serial port %s at %d baud\n", port, baudrate);
+    *handle = malloc(1); // Dummy handle
+    return true;
+}
+
+void serial_close(void* handle) {
+    // Implementation depends on your platform
+    if (handle) free(handle);
+}
+
+bool serial_write(void* handle, const uint8_t* data, size_t length) {
+    // Implementation depends on your platform
+    printf("Writing %zu bytes to serial port\n", length);
+    return true;
+}
+
+int serial_read(void* handle, uint8_t* buffer, size_t max_length) {
+    // Implementation depends on your platform
+    return 0; // Return number of bytes read
+}
+
+int serial_available(void* handle) {
+    // Implementation depends on your platform
+    return 0; // Return number of bytes available
+} 
\ No newline at end of file