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 | 61 +++++++++++++++++++-----------
1 files changed, 38 insertions(+), 23 deletions(-)
diff --git a/APL/App.c b/APL/App.c
index 4440981..1eeb70e 100644
--- a/APL/App.c
+++ b/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
{
--
Gitblit v1.9.3