From 039f65a917fab431b629125b428fb1ede145ebbe Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 20 五月 2025 11:52:59 +0800
Subject: [PATCH] 3.7，加入放开加速度阈值可以修改

---
 APL/App.c |   25 +++++++++++++++++++------
 1 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/APL/App.c b/APL/App.c
index 777ee59..1eeb70e 100644
--- a/APL/App.c
+++ b/APL/App.c
@@ -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)|5;
+	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;
@@ -375,7 +386,7 @@
     uint16_t state_flag;
     u16 uwbchecksum;
     state_flag=fangchai_flag<<4;
-            if(taglist_num>8)
+        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
@@ -391,8 +402,7 @@
         uwb_send[14] = 0;
         uwb_send[15] = 0;
         uwb_send[16] = taglist_num;
-        if(taglist_num>7)
-        {taglist_num=7;}
+
         memcpy(&uwb_send[17],&tagid_list,2*taglist_num);
         memcpy(&uwb_send[17+taglist_num*2],&tagdist_list,2*taglist_num);
         memcpy(&uwb_send[17+taglist_num*4],&tagbat_list,taglist_num);
@@ -440,6 +450,7 @@
             if(GPS_successful_flag)
             {
                 UDPClient_UploadGPS((char*)GPS_data);
+//                UDPClient_UploadGPS_flag=1;
             }
             else
             {
@@ -475,7 +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  
@@ -507,6 +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;
                     }
@@ -521,6 +533,7 @@
                             if(GPS_successful_flag)
                             {
                                 UDPClient_UploadGPS((char*)GPS_data);
+//                                UDPClient_UploadGPS_flag=1;
                             }
                             else
                             {

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