3.7，加入放开加速度阈值可以修改

WXK

2025-05-20 039f65a917fab431b629125b428fb1ede145ebbe

 APL/App.c

@@ -57,7 +57,7 @@
static HIDO_UINT32 l_u32LocationTick = 0;
extern ST_GPS l_stGPS;
extern uint32_t uwbled,gpsled,loraled,powerled;
uint8_t uwb_send[100]={0x55,0xaa};
uint8_t uwb_send[200]={0x55,0xaa};
void Uwb_Zubao_Poll();
extern IWDG_HandleTypeDef hiwdg;
/*******************************************************************************
@@ -121,7 +121,7 @@
#define YUNDONG_UWB_TIME 1
#define YUNDONG_GPS4G_TIME 100
extern UART_HandleTypeDef huart2;
uint8_t GPS_data[100];
uint8_t GPS_data[200];
uint8_t GPS_successful_flag;
uint8_t fangchai_flag;
uint8_t fangchai_state;
@@ -139,6 +139,8 @@
extern uint8_t air780_state;
extern uint16_t sleep_time;
uint8_t zuihoufasong_falg;
uint8_t UDPClient_UploadGPS_flag;
extern uint16_t chongdianmeiyouuwb_time;
void PowerLedTask(void)
{ 
     static u8 powerled_state=0;
@@ -151,6 +153,7 @@
        }
       while(HAL_GPIO_ReadPin(INPUT_5V_GPIO_Port,INPUT_5V_Pin)&&DBG_GetMode() == DBG_MODE_CHARGE)
        {
            nomove_count = 0;
            HAL_IWDG_Refresh(&hiwdg);
        DBG_Poll();
        IdleTask();
@@ -169,6 +172,10 @@
            {
                powerled = RED;
            }
                if(chongdianmeiyouuwb_time>30)
                {
                HAL_NVIC_SystemReset();
                }
                if(taglist_num>0)
                {
                    if(air780_state>=2)
@@ -181,8 +188,10 @@
                        chongdian_yundong_time=0;
                        Uwb_Zubao_Poll();
                        UDPClient_UploadGPS((char*)GPS_data);
//                        UDPClient_UploadGPS_flag=1;
                        HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
                        taglist_num=0;
                        chongdianmeiyouuwb_time=0;
                    }
                }
                else
@@ -193,6 +202,7 @@
                            if(GPS_successful_flag)
                            {
                                UDPClient_UploadGPS((char*)GPS_data);
//                                UDPClient_UploadGPS_flag=1;
                            }
                            else
                            {
@@ -231,7 +241,7 @@
    //deca_sleep(1000);

    g_com_map[GROUP_ID]=3;
   g_com_map[VERSION] = (2<<8)|4;
   g_com_map[VERSION] = (2<<8)|11;

    if (g_com_map[COM_INTERVAL] <50)
    {
@@ -273,6 +283,7 @@
    {
      {g_com_map[CHAICHUGPS_HZ]=600;}
    }
    g_com_map[CHAICHUGPS_HZ]=1800;
    if(g_com_map[NOMOVESLEEP_TIME]>120)
    {
       g_com_map[NOMOVESLEEP_TIME]=120;
@@ -291,24 +302,24 @@
    printf("服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[IP_0],g_com_map[IP_1],g_com_map[IP_2],g_com_map[IP_3],g_com_map[PORT]);
    printf("当前运动时GPS工作间隔: %d .\r\n",g_com_map[GPS_HZ]);
    printf("当前被拆时GPS工作间隔: %d .\r\n",g_com_map[CHAICHUGPS_HZ]);
       if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
    {        printf("TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
    {
//        sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
//        g_com_map[NTRIP_PORT_INDEX] = 8005;
//        sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
//        sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
//        sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
        printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
        printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
        printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
        printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
        printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
    { 
        printf("单点定位模式模式. \r\n");
    }
//       if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_TCP)
//    {        printf("TCP_RTCM模式,服务器地址: %d.%d.%d.%d:%d.\r\n",g_com_map[TCP_IP_0],g_com_map[TCP_IP_1],g_com_map[TCP_IP_2],g_com_map[TCP_IP_3],g_com_map[TCP_PORT]);
//    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NTRIP)
//    {
////        sprintf((char *)&g_com_map[NTRIP_HOST_INDEX],"140.143.212.42");
////        g_com_map[NTRIP_PORT_INDEX] = 8005;
////        sprintf((char *)&g_com_map[NTRIP_USERNANME_INDEX],"test006");
////        sprintf((char *)&g_com_map[NTRIP_PASSWORD_INDEX],"hxzk20151102");
////        sprintf((char *)&g_com_map[NTRIP_SOURCENAME_INDEX],"RTCM32_GNSS2");
//        printf("NtripHost:%s.\r\n",(char *)&g_com_map[NTRIP_HOST_INDEX]);
//        printf("NtripPort:%d.\r\n",g_com_map[NTRIP_PORT_INDEX]);
//        printf("NtripUsername:%s.\r\n",(char *)&g_com_map[NTRIP_USERNANME_INDEX]);
//        printf("NtripPassword:%s.\r\n",(char *)&g_com_map[NTRIP_PASSWORD_INDEX]);
//        printf("NtripSourcename:%s.\r\n",(char *)&g_com_map[NTRIP_SOURCENAME_INDEX]);
//    }else if(g_com_map[RTCMMODE_INDEX] == RTCMMODE_NONE)
//    { 
//        printf("单点定位模式模式. \r\n");
//    }
}

void IdleTask(void)
@@ -375,7 +386,8 @@
    uint16_t state_flag;
    u16 uwbchecksum;
    state_flag=fangchai_flag<<4;
    
        if(taglist_num>8)
        {taglist_num=8;}
        uwb_send[2] = 0x12;//正常模式 
        uwb_send[3] = 15+5*(taglist_num);//数据段长度
        memcpy(&uwb_send[4],&dev_id,2);
@@ -438,6 +450,7 @@
            if(GPS_successful_flag)
            {
                UDPClient_UploadGPS((char*)GPS_data);
//                UDPClient_UploadGPS_flag=1;
            }
            else
            {
@@ -473,7 +486,7 @@
                {
                Stop_Mode_Poll();
                HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI);
                if(sleep_time>600)
                if(sleep_time>1800)
                {HAL_NVIC_SystemReset();}
                }
                else  
@@ -505,6 +518,7 @@
                        yundong_time=0;
                        Uwb_Zubao_Poll();
                        UDPClient_UploadGPS((char*)GPS_data);
//                        UDPClient_UploadGPS_flag=1;
                        HexToAsciiSendUDP(uwb_send,19+5*taglist_num);
                        taglist_num=0;
                    }
@@ -519,6 +533,7 @@
                            if(GPS_successful_flag)
                            {
                                UDPClient_UploadGPS((char*)GPS_data);
//                                UDPClient_UploadGPS_flag=1;
                            }
                            else
                            {