diff --git a/ETH/UdpServer/Ld/Link.ld b/ETH/UdpServer/Ld/Link.ld
index 0c48aca..38ecd27 100644
--- a/ETH/UdpServer/Ld/Link.ld
+++ b/ETH/UdpServer/Ld/Link.ld
@@ -7,7 +7,7 @@ PROVIDE( _stack_size = __stack_size );
 
 MEMORY
 {
-    FLASH (rx) : ORIGIN = 0x0000000, LENGTH = 214K
+    FLASH (rx) : ORIGIN = 0x000A000, LENGTH = 214K
 	RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
 }
 
diff --git a/ETH/UdpServer/User/ch32v30x_it.c b/ETH/UdpServer/User/ch32v30x_it.c
index bc1506d..8c417a4 100644
--- a/ETH/UdpServer/User/ch32v30x_it.c
+++ b/ETH/UdpServer/User/ch32v30x_it.c
@@ -185,6 +185,20 @@ void CAN2_RX1_IRQHandler(void)
 
         if(CanRxStructure.DLC > 0)//长度大于0
         {
+
+            // if (CanRxStructure.ExtId == DF_CanIDbattery)
+            // {
+            //     memcpy((uint8_t *)&un_wheel_speed_input.,(uint8_t *)&(CanRxStructure.Data[0]),8);//接受电池
+            //     RgCanToBatteryCnt ++;
+            // }
+            // else if (CanRxStructure.ExtId == DF_CanIDRCH_3)
+            // {
+            //     memcpy((uint8_t *)&UnRCH_3Signal_1.ArrData.ArrRx[0][0],(uint8_t *)&(CanRxStructure.Data[0]),8);//接受遥控器数据
+            //     RgCanRC6GSCnt ++;
+            // }
+
+
+
             CAN_Send_Msg(CAN2, 0x7F2, CAN_Id_Standard, CAN_RTR_Data, &CanRxStructure.Data[0], 8);//调试信息发送
         }
     }
diff --git a/ETH/UdpServer/User/interface.c b/ETH/UdpServer/User/interface.c
index cdda314..522d116 100644
--- a/ETH/UdpServer/User/interface.c
+++ b/ETH/UdpServer/User/interface.c
@@ -23,6 +23,8 @@ StrRequestMessage       str_RequestMessage = {0};//璇锋眰淇℃伅
 
 UnInfNavigationRS232Output  navigation_rs232_output = {0};//涓插彛杈撳嚭鏁版嵁
 
+UnWheelSpeedInput       un_wheel_speed_input = {0};//杞�熻緭鍏�
+
 
 rtcmBuffer              RTCM_Buffer1 = {0,0,0};
 imuBuffer               imu_buffer1 = {0,0,0};
diff --git a/ETH/UdpServer/User/interface.h b/ETH/UdpServer/User/interface.h
index 1db7678..7a8b0cf 100644
--- a/ETH/UdpServer/User/interface.h
+++ b/ETH/UdpServer/User/interface.h
@@ -185,8 +185,20 @@ typedef union _UnInfNavigationOutputC
 } UnInfNavigationOutputC;
 
 
+/* 杞﹁締杞�熻緭鍏ユ暟鎹粨鏋勪綋 */
+typedef struct {
+    /* 鍥涜疆閫熷害鏁版嵁 (8瀛楄妭) */
+    int16_t front_left_speed;    // 宸﹀墠杞�� 鍗曚綅锛歬m/h
+    int16_t front_right_speed;   // 鍙冲墠杞�� 鍗曚綅锛歬m/h
+    int16_t rear_left_speed;     // 宸﹀悗杞�� 鍗曚綅锛歬m/h
+    int16_t rear_right_speed;    // 鍙冲悗杞�� 鍗曚綅锛歬m/h
+} StrVehicleWheelSpeedInput;
 
-
+/* 杞�熸暟鎹仈鍚堜綋锛堢敤浜庡師濮嬪瓧鑺傝闂級 */
+typedef union {
+    StrVehicleWheelSpeedInput speed_data;  // 缁撴瀯鍖栬疆閫熸暟鎹�
+    uint8_t arr[sizeof(StrVehicleWheelSpeedInput)];  // 鍘熷瀛楄妭鏁扮粍
+} UnWheelSpeedInput;
 
 
 
diff --git a/ETH/UdpServer/User/interface_can.c b/ETH/UdpServer/User/interface_can.c
index b8bef35..12f8c35 100644
--- a/ETH/UdpServer/User/interface_can.c
+++ b/ETH/UdpServer/User/interface_can.c
@@ -63,10 +63,10 @@ void CAN1_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
     CAN_FilterInitSturcture.CAN_FilterNumber = 0;
     CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
     CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
-    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDbattery|DF_CanIDRCH_3)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
-    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDbattery|DF_CanIDRCH_3)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
-    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDbattery^DF_CanIDRCH_3))<<DF_ExtIDShift)|0x0E) >> 16);
-    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDbattery^DF_CanIDRCH_3))<<DF_ExtIDShift)|0x0E);
+    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
+    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
+    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
+    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
     CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO0;
     CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
     CAN_FilterInit( &CAN_FilterInitSturcture );
@@ -151,10 +151,10 @@ void CAN2_Mode_Init( u8 tsjw, u8 tbs2, u8 tbs1, u16 brp, u8 mode )
 
     CAN_FilterInitSturcture.CAN_FilterMode = CAN_FilterMode_IdMask;
     CAN_FilterInitSturcture.CAN_FilterScale = CAN_FilterScale_32bit;
-    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_StaIDShift))>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
-    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_StaIDShift));//(uint16_t)(((0x10000001<<3)|0x04));//
-    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_StaIDShift)|0x0E) >> 16);
-    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_StaIDShift)|0x0E);
+    CAN_FilterInitSturcture.CAN_FilterIdHigh = (uint16_t)((((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04)>>16);//(uint16_t)(((0x10000001<<3)|0x04)>>16);//应该是
+    CAN_FilterInitSturcture.CAN_FilterIdLow = (uint16_t)(((DF_CanIDMotor1|DF_CanIDMotor2)<<DF_ExtIDShift)|0x04);//(uint16_t)(((0x10000001<<3)|0x04));//
+    CAN_FilterInitSturcture.CAN_FilterMaskIdHigh = (uint16_t)((((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E) >> 16);
+    CAN_FilterInitSturcture.CAN_FilterMaskIdLow = (uint16_t)(((~(DF_CanIDMotor1^DF_CanIDMotor2))<<DF_ExtIDShift)|0x0E);
 
     CAN_FilterInitSturcture.CAN_FilterFIFOAssignment = CAN_Filter_FIFO1;
     CAN_FilterInitSturcture.CAN_FilterActivation = ENABLE;
diff --git a/ETH/UdpServer/User/interface_can.h b/ETH/UdpServer/User/interface_can.h
index 457259d..56876bb 100644
--- a/ETH/UdpServer/User/interface_can.h
+++ b/ETH/UdpServer/User/interface_can.h
@@ -36,8 +36,8 @@
 #define DF_CanIDbattery2          0x101//电池接收
 #define DF_CanIDRCH_3             0x12000023//接受遥控器
 
-#define DF_CanIDMotor1            0x101//左电机控制器
-#define DF_CanIDMotor2            0x102//右电机控制器
+#define DF_CanIDMotor1            0x98//20251025 修改接收轮速
+#define DF_CanIDMotor2            0x99//20251025 修改接收轮速
 
 #define DF_ExtIDShift             3//扩展帧移位  32-29
 #define DF_StaIDShift             21//标准帧移位 32-11
diff --git a/ETH/UdpServer/User/interface_uart.c b/ETH/UdpServer/User/interface_uart.c
index 4520e64..94d8a27 100644
--- a/ETH/UdpServer/User/interface_uart.c
+++ b/ETH/UdpServer/User/interface_uart.c
@@ -1,7 +1,7 @@
 /*
  * eth_drive.c
  *
- *  Created on: 2023年1月5日
+ *  Created on: 2023锟斤拷1锟斤拷5锟斤拷
  *      Author: Administrator
  */
 
@@ -18,7 +18,7 @@ static RingBuffer nmea_rx_buf;
 #define DMA_BUF_SIZE 1400
  uint8_t dma_rx_buffer[DMA_BUF_SIZE] __attribute__((aligned(4)));
 
-//__attribute__((aligned(4))) uint8_t dma_buffer[2048]; // GCC语法
+//__attribute__((aligned(4))) uint8_t dma_buffer[2048]; // GCC锟斤法
 
 
 //void USART2_IRQHandler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
@@ -48,7 +48,7 @@ void USART3_IRQHandler(void)
     {
         imu_buffer1.buf_len = IMU_LEN - DMA_GetCurrDataCounter(IMU_RX_CH);
 
-        if( (imu_buffer1.dma_buffer[imu_buffer1.active_buf][0] == IMU_IIM46234_HEADER1) && //适配两个传感器
+        if( (imu_buffer1.dma_buffer[imu_buffer1.active_buf][0] == IMU_IIM46234_HEADER1) && //锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷
            (imu_buffer1.dma_buffer[imu_buffer1.active_buf][1] == IMU_IIM46234_HEADER2) )
         {            
            imu_buffer1.type = IIM46234;
@@ -105,7 +105,7 @@ void UART8_IRQHandler(void)
     {
         uint8_t UART_temp = 0;
         UART_temp = USART_ReceiveData(UART8);
-//        printf("USART8:%d\n", UART_temp);  // 数据
+//        printf("USART8:%d\n", UART_temp);  // 锟斤拷锟斤拷
     }
     exit_critical_section(0);      
 }
@@ -131,7 +131,7 @@ void UART7_IRQHandler(void)
         DMA_Cmd(UM982_RX_CH, DISABLE);
         uint16_t received_len = DMA_BUF_SIZE - DMA_GetCurrDataCounter(UM982_RX_CH);
         
-        // 3. 将数据拷贝到环形缓冲区
+        // 3. 锟斤拷锟斤拷锟捷匡拷锟斤拷锟斤拷锟斤拷锟轿伙拷锟斤拷锟斤拷
         for(uint16_t i = 0; i < received_len; i++) 
         {
             uint16_t next_head = (nmea_rx_buf.head + 1) % RING_BUF_SIZE;
@@ -166,7 +166,7 @@ void DMA1_Channel3_IRQHandler(void)
     enter_critical_section();          
     imu_buffer1.buf_len = RX_BUFFER_LEN;
 
-    DMA_ClearITPendingBit(DMA1_IT_TC3);//清零中断
+    DMA_ClearITPendingBit(DMA1_IT_TC3);//锟斤拷锟斤拷锟叫讹拷
     exit_critical_section(0);     
 }
 
@@ -184,7 +184,7 @@ void DMA2_Channel3_IRQHandler(void)
     enter_critical_section();      
     RTCM_Buffer1.buf_len = RX_BUFFER_LEN;
 
-    DMA_ClearITPendingBit(DMA2_IT_TC3);//清零中断
+    DMA_ClearITPendingBit(DMA2_IT_TC3);//锟斤拷锟斤拷锟叫讹拷
     exit_critical_section(0);    
 }
 
@@ -198,7 +198,7 @@ void DMA2_Channel3_IRQHandler(void)
 void DMA2_Channel9_IRQHandler(void)
 {
     enter_critical_section(); 
-    DMA_ClearITPendingBit(DMA2_IT_TC9);//清零中断
+    DMA_ClearITPendingBit(DMA2_IT_TC9);//锟斤拷锟斤拷锟叫讹拷
     exit_critical_section(0);    
 }
 
@@ -242,7 +242,7 @@ void dmaInit(void)
     DMA_Cmd(RTCM_RX_CH, ENABLE);
     USART_DMACmd(RTCM_UART, USART_DMAReq_Rx, ENABLE);
 
-//IMU DMA接收
+//IMU DMA锟斤拷锟斤拷
     DMA_DeInit(IMU_RX_CH);
     DMA_InitStructure.DMA_PeripheralInc      = DMA_PeripheralInc_Disable;
     DMA_InitStructure.DMA_MemoryInc          = DMA_MemoryInc_Enable;
@@ -270,7 +270,7 @@ void dmaInit(void)
     USART_DMACmd(IMU_UART, USART_DMAReq_Rx, ENABLE);
 
 
-//982 DMA接收
+//982 DMA锟斤拷锟斤拷
     DMA_DeInit(UM982_RX_CH);
     DMA_InitStructure.DMA_PeripheralInc      = DMA_PeripheralInc_Disable;
     DMA_InitStructure.DMA_MemoryInc          = DMA_MemoryInc_Enable;
@@ -363,7 +363,7 @@ void initUart(void)
     NVIC_Init(&NVIC_InitStructure);
     USART_Cmd(UART4, ENABLE);
 
-/* UART6 TX-->C.0  RX-->C.1 */  //接的982的com1
+/* UART6 TX-->C.0  RX-->C.1 */  //锟接碉拷982锟斤拷com1
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -389,7 +389,7 @@ void initUart(void)
     NVIC_Init(&NVIC_InitStructure);
     USART_Cmd(UART6, ENABLE);
 
-/* UART7 TX-->C.2  RX-->C.3 *///接的982的com2
+/* UART7 TX-->C.2  RX-->C.3 *///锟接碉拷982锟斤拷com2
     GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
@@ -443,7 +443,7 @@ void initUart(void)
 
 
 
-void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//串口2发送函数
+void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//锟斤拷锟斤拷2锟斤拷锟酵猴拷锟斤拷
 {
     for(uint16_t i = 0; i<len; i++)
     {
@@ -457,9 +457,9 @@ void uartSendto(USART_TypeDef *USARTx, uint8_t * ucData, uint16_t len)//
 
 void rtcmProcess(void *signal_id)
 {
-    (void)signal_id;  // 标记变量为已使用，避免编译器警告
+    (void)signal_id;  // 锟斤拷潜锟斤拷锟轿拷锟绞癸拷茫锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷
 
-    uartSendto(UART6, (uint8_t *)&(RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf^1][0]), RTCM_Buffer1.buf_len);//直接发送非激活内存
+    uartSendto(UART6, (uint8_t *)&(RTCM_Buffer1.dma_buffer[RTCM_Buffer1.active_buf^1][0]), RTCM_Buffer1.buf_len);//直锟接凤拷锟酵非硷拷锟斤拷锟节达拷
     printf("rtcm  forwarding\n");
 }
 
@@ -468,25 +468,25 @@ void rtcmProcess(void *signal_id)
 
 void setDataProcess(void *signal_id)
 {
-    (void)signal_id;  // 标记变量为已使用，避免编译器警告
+    (void)signal_id;  // 锟斤拷潜锟斤拷锟轿拷锟绞癸拷茫锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷
     uartSendto(USART3, set_output_data, 20);
 }
 
 void setRateProcess(void *signal_id)
 {
-    (void)signal_id;  // 标记变量为已使用，避免编译器警告
+    (void)signal_id;  // 锟斤拷潜锟斤拷锟轿拷锟绞癸拷茫锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷
     uartSendto(USART3, set_rate, 20);
 }
 
 void setSaveProcess(void *signal_id)
 {
-    (void)signal_id;  // 标记变量为已使用，避免编译器警告
+    (void)signal_id;  // 锟斤拷潜锟斤拷锟轿拷锟绞癸拷茫锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷
     uartSendto(USART3, save_cmd, 20);
 }
 
 void setSteamProcess(void *signal_id)
 {
-    (void)signal_id;  // 标记变量为已使用，避免编译器警告
+    (void)signal_id;  // 锟斤拷潜锟斤拷锟轿拷锟绞癸拷茫锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷
     uartSendto(USART3, stream_cmd, 20);
 }
 
@@ -494,18 +494,18 @@ void setSteamProcess(void *signal_id)
 
 
 /* /?**?
- * @brief 计算NMEA语句的校验和（XOR异或校验）
- * @param nmea_str 完整的NMEA语句（包含$和*，但不含结尾的CRLF）
- * @return 计算出的8位校验和（0x00~0xFF）
+ * @brief 锟斤拷锟斤拷NMEA锟斤拷锟斤拷校锟斤拷停锟絏OR锟斤拷锟叫ｏ拷椋�
+ * @param nmea_str 锟斤拷锟斤拷锟斤拷NMEA锟斤拷洌拷锟斤拷锟�$锟斤拷*锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷尾锟斤拷CRLF锟斤拷
+ * @return 锟斤拷锟斤拷锟斤拷锟�8位校锟斤拷停锟�0x00~0xFF锟斤拷
  */ 
 uint8_t nmea_checksum(const char *nmea_str) 
 {
     uint8_t checksum = 0;
     
-    // 跳过起始符'$'（如果存在）
+    // 锟斤拷锟斤拷锟斤拷始锟斤拷'$'锟斤拷锟斤拷锟斤拷锟斤拷冢锟�
     if (*nmea_str == '$') nmea_str++;
     
-    // 逐字符异或，直到遇到'*'或字符串结束
+    // 锟斤拷锟街凤拷锟斤拷锟街憋拷锟斤拷锟斤拷锟�'*'锟斤拷锟街凤拷锟斤拷锟斤拷锟斤拷
     while (*nmea_str && *nmea_str != '*') {
         checksum ^= (uint8_t)*nmea_str++;
     }
@@ -514,24 +514,24 @@ uint8_t nmea_checksum(const char *nmea_str)
 
 
 /* 
- * @brief 验证NMEA语句的校验和
- * @param nmea_str 完整的NMEA语句（如"$GPGGA,...*2A\r\n"）
- * @return 校验成功返回1，失败返回0
+ * @brief 锟斤拷证NMEA锟斤拷锟斤拷校锟斤拷锟�
+ * @param nmea_str 锟斤拷锟斤拷锟斤拷NMEA锟斤拷洌拷锟�"$GPGGA,...*2A\r\n"锟斤拷
+ * @return 校锟斤拷晒锟斤拷锟斤拷锟�1锟斤拷失锟杰凤拷锟斤拷0
  */ 
 bool nmea_validate_checksum(const char *nmea_str) 
 {
     const char *p = nmea_str;
     uint8_t computed_cs, received_cs;
     
-    // 查找校验和起始位置'*'
+    // 锟斤拷锟斤拷校锟斤拷锟斤拷锟绞嘉伙拷锟�'*'
     while (*p && *p != '*') p++;
-    if (*p != '*') return 0;  // 无校验和字段
+    if (*p != '*') return 0;  // 锟斤拷校锟斤拷锟斤拷侄锟�
     
-    // 提取接收到的校验和（2位十六进制）
+    // 锟斤拷取锟斤拷锟秸碉拷锟斤拷校锟斤拷停锟�2位十锟斤拷锟斤拷锟狡ｏ拷
     if (!isxdigit(p[1]) || !isxdigit(p[2])) return 0;
     received_cs = (uint8_t)strtol(p+1, NULL, 16);
     
-    // 计算实际校验和
+    // 锟斤拷锟斤拷实锟斤拷校锟斤拷锟�
     computed_cs = nmea_checksum(nmea_str);
     
     return (computed_cs == received_cs);
@@ -544,81 +544,81 @@ void ProcessNMEAFrames(void *signal_id)
     bool frame_complete = false;
     static uint8_t debug1s_cnt = 0;
     
-    debug1s_cnt ++;
-    if(debug1s_cnt >= 20)
-    {
-        debug1s_cnt = 0;
-        printf("nmea_buf tail:%d head:%d\n",
-                    nmea_rx_buf.tail, nmea_rx_buf.head);
-    }
+    // debug1s_cnt ++;
+    // if(debug1s_cnt >= 20)
+    // {
+    //     debug1s_cnt = 0;
+    //     printf("nmea_buf tail:%d head:%d\n",
+    //                 nmea_rx_buf.tail, nmea_rx_buf.head);
+    // }
 
 
     
     while(nmea_rx_buf.tail != nmea_rx_buf.head && !frame_complete) 
-    { // 缓冲区非空且未完成一帧解析
+    { // 锟斤拷锟斤拷锟斤拷锟角匡拷锟斤拷未锟斤拷锟揭恢★拷锟斤拷锟�
         uint8_t ch = nmea_rx_buf.buffer[nmea_rx_buf.tail];
         nmea_rx_buf.tail = (nmea_rx_buf.tail + 1) % RING_BUF_SIZE;
 
         if(nmea_rx_buf.overflow) {
             nmea_rx_buf.tail = nmea_rx_buf.head;
-            // 3. 重置溢出标志
+            // 3. 锟斤拷锟斤拷锟斤拷锟斤拷锟街�
             nmea_rx_buf.overflow = 0;
-            // 4. 触发错误恢复流程（如重发请求）
+            // 4. 锟斤拷锟斤拷锟斤拷锟斤拷指锟斤拷锟斤拷蹋锟斤拷锟斤拷胤锟斤拷锟斤拷锟�
             printf("Overflow recovery\n");
 
         }
 
         
-        // 帧头检测
+        // 帧头锟斤拷锟�
         if(ch == '$') {
             if(parse_idx > 0 && parsing_buf[parse_idx-1] == '\n') 
             {
-                if (nmea_validate_checksum((char *)parsing_buf)) //校验代码
+                if (nmea_validate_checksum((char *)parsing_buf)) //校锟斤拷锟斤拷锟�
                 {
                     memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx);
                     publishMessage(&nema_output1, 1);
-                    frame_complete = true; // 标记帧处理完成
+                    frame_complete = true; // 锟斤拷锟街★拷锟斤拷锟斤拷锟斤拷
                 } 
                 else 
                 {
                     printf("nmea crc error");
-                    frame_complete = true; // 标记帧处理完成                  
+                    frame_complete = true; // 锟斤拷锟街★拷锟斤拷锟斤拷锟斤拷                  
                 }
             }                                                                                                                                                                                                                                                  
             parse_idx = 0;
         }
         
-        // 存储数据
+        // 锟芥储锟斤拷锟斤拷
         if(parse_idx < RING_BUF_SIZE-1 && !frame_complete)
         {
             parsing_buf[parse_idx++] = ch;
             
-            // 帧尾检测
+            // 帧尾锟斤拷锟�
             if(parse_idx >= 2 && 
                parsing_buf[parse_idx-2] == '\r' && 
                parsing_buf[parse_idx-1] == '\n') 
             {
-                if (nmea_validate_checksum((char *)parsing_buf)) //校验代码
+                if (nmea_validate_checksum((char *)parsing_buf)) //校锟斤拷锟斤拷锟�
                 {
                     memcpy(&nema_output1.buffer[0],parsing_buf,parse_idx);
                     publishMessage(&nema_output1, 1);
-                    frame_complete = true; // 标记帧处理完成
+                    frame_complete = true; // 锟斤拷锟街★拷锟斤拷锟斤拷锟斤拷
                 } 
                 else
                 {
                     printf("nmea buf error"); 
-                    frame_complete = true; // 标记帧处理完成                                 
+                    frame_complete = true; // 锟斤拷锟街★拷锟斤拷锟斤拷锟斤拷                                 
                 }
                 parse_idx = 0;
             }
         }
         else if(!frame_complete) 
         {
-            parse_idx = 0; // 防止溢出
+            parse_idx = 0; // 锟斤拷止锟斤拷锟�
         }
     }
 
-    timerStart(&nmea_timer, 50, 1); // 100ms后再次触发
+    timerStart(&nmea_timer, 10, 1); // 100ms锟斤拷锟劫次达拷锟斤拷
 }
 
 void navigationRs232Process(void *signal_id)
@@ -630,7 +630,7 @@ void navigationRs232Process(void *signal_id)
 
 
 
-// APP模块的初始化
+// APP模锟斤拷某锟绞硷拷锟�
 void interfaceUartInit(void)
 {
     subscribe(&set_output_data, setDataProcess);
@@ -641,7 +641,7 @@ void interfaceUartInit(void)
     subscribe(&nmea_timer, ProcessNMEAFrames);
     subscribe(&navigation_rs232_output, navigationRs232Process);
 
-    timerStart(&nmea_timer, 50,1);//50ms
+    timerStart(&nmea_timer, 10,1);//50ms
     
     printf("interface uart: initial OK %d\n",getCurrentTime());
 }
diff --git a/ETH/UdpServer/User/interface_uart.h b/ETH/UdpServer/User/interface_uart.h
index 03b3ca1..a6a6831 100644
--- a/ETH/UdpServer/User/interface_uart.h
+++ b/ETH/UdpServer/User/interface_uart.h
@@ -26,7 +26,7 @@
 #define UM982_RX_IRQn        DMA2_Channel9_IRQn
 
 
-#define RING_BUF_SIZE        4096
+#define RING_BUF_SIZE        6144
 
 
 // 环形缓冲区结构体定义
diff --git a/ETH/UdpServer/User/main.c b/ETH/UdpServer/User/main.c
index 558b476..4bd8511 100644
--- a/ETH/UdpServer/User/main.c
+++ b/ETH/UdpServer/User/main.c
@@ -133,7 +133,7 @@ int main(void)
 
     bootInterfaceInit();
     appMonitorInit();
-//    testAppInit();
+    testAppInit();
     feedWatchdog();   
     dataProcessingAppInit();
     ethernetInterfaceInit();
diff --git a/ETH/UdpServer/app/app_data_processing.c b/ETH/UdpServer/app/app_data_processing.c
index ac34883..2c36e41 100644
--- a/ETH/UdpServer/app/app_data_processing.c
+++ b/ETH/UdpServer/app/app_data_processing.c
@@ -353,13 +353,13 @@ void rs232Process(void)
     navigation_rs232_output.bit_data.gyro_z = (int16_t) (float_temp*32768/300.0f);
 
 //加速度
-    float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f/9.8;//修改单位为g
+    float_temp = (float) (yis321_data.bit_data.acc_x)*0.000001f;//修改单位为g
     navigation_rs232_output.bit_data.accel_x = (int16_t) (float_temp*32768/12.0f);
 
-    float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f/9.8;//修改单位为g
+    float_temp = (float) (yis321_data.bit_data.acc_y)*0.000001f;//修改单位为g
     navigation_rs232_output.bit_data.accel_y = (int16_t) (float_temp*32768/12.0f);
 
-    float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f/9.8;//修改单位为g
+    float_temp = (float) (yis321_data.bit_data.acc_z)*0.000001f;//修改单位为g
     navigation_rs232_output.bit_data.accel_z = (int16_t) (float_temp*32768/12.0f);
 
 //gps信息
@@ -432,9 +432,6 @@ void imuInput(void *signal_id)
 
                  }
 
-
-
-
                 publishMessage(&navigation_output1, 1);  
             }
         break;
@@ -482,32 +479,30 @@ void iim6234Init(void *signal_id)
 
 void nmeaPrintf(void *signal_id)
 {
-    // printf("[THS] Heading:%.1f° Mode:%c\n",
-    //         ths_data1.heading, ths_data1.mode);
-    // printf("[VTG] Course:%.1f° Speed:%.1fkm/h\n",
-    //         vtg_data1.course_true, vtg_data1.speed_kmh);
+    printf("[THS] Heading:%.1f° Mode:%c\n",
+            ths_data1.heading, ths_data1.mode);
+    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,  // 假设高度单位为M(米)
-    //     gga_data1.fix_quality,
-    //     gga_data1.satellites,
-    //     gga_data1.hdop      
-    //     );
+    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,  // 假设高度单位为M(米)
+        gga_data1.fix_quality,
+        gga_data1.satellites,
+        gga_data1.hdop      
+        );
 
-    // printf("四元数: (%.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("四元数: (%.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("欧拉角: (%.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);
+    printf("欧拉角: (%.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);
 
     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]);//使用串口打印加速度，角速度数据
 
-
-
      timerStart(&data_processing_timer, 1000,1);//100ms   
 }
 
diff --git a/ETH/UdpServer/app/app_test.c b/ETH/UdpServer/app/app_test.c
index 746d285..5aaf61f 100644
--- a/ETH/UdpServer/app/app_test.c
+++ b/ETH/UdpServer/app/app_test.c
@@ -21,14 +21,14 @@ void testTimerProcess(void *signal_id)
     static uint32_t start_time = 0;
 //    short hx,hy,hz=0;
 
-
-    printf("testAPP: %d us \n",getCurrentTime() - start_time);
+     printf("testAPP\n");
+//   printf("testAPP: %d us \n",getCurrentTime() - start_time);
 
     // uint8_t arrtest4[10] = {0x56,0x56,0x04};
 
-    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]);//浣跨敤涓插彛鎵撳嵃鍔犻�熷害锛岃閫熷害鏁版嵁
-    printf("RM3100 hx: %d, hy: %d, hz: %d\r\n", navigation_output1.bit_data.magnetic_x_axis, navigation_output1.bit_data.magnetic_y_axis, navigation_output1.bit_data.magnetic_z_axis);
+//    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]);//浣跨敤涓插彛鎵撳嵃鍔犻�熷害锛岃閫熷害鏁版嵁
+    // printf("RM3100 hx: %d, hy: %d, hz: %d\r\n", navigation_output1.bit_data.magnetic_x_axis, navigation_output1.bit_data.magnetic_y_axis, navigation_output1.bit_data.magnetic_z_axis);
 
 
     // uint8_t tesr1 = 0;