改时间判断数据是否更新

BSP/insifhtica_QOAR1271.c

@@ -28,9 +28,11 @@ struct mr72_c{
 
 typedef struct dist_area_s
 {
+    uint32_t time_tick;
     uint16_t mid;
     uint16_t left;
     uint16_t right;
+
 };
 
 struct dist_area_s min_dist;
@@ -197,26 +199,29 @@ bool decode_mr72(int16_t c)
 
             // if((last_range - mr72_c_data.range_f > 0.5)  || (last_range - mr72_c_data.range_f < -0.5)){
             
-            // if(mr72_c_data.azimuth < -30.0){    // 左边区域
-            //     if((abs(new_dist.left - mr72_c_data.range) > 10)){
-            //         new_dist.left = mr72_c_data.range;
-            //     }
-            // }else if(mr72_c_data.azimuth < 30.0){   // 中间区域
+            if(mr72_c_data.azimuth < -30.0){    // 左边区域
+                if((mr72_c_data.time_ms - new_dist.time_tick < 500)){
+                    new_dist.left = mr72_c_data.range;
+                    new_dist.time_tick = mr72_c_data.time_ms;
+                }
+            }else if(mr72_c_data.azimuth < 30.0){   // 中间区域
+                if((mr72_c_data.time_ms - new_dist.time_tick < 500)){
+                    new_dist.mid = mr72_c_data.range;
+                    new_dist.time_tick = mr72_c_data.time_ms;
+                }
+            }else{  // 右边区域
+                if((mr72_c_data.time_ms - new_dist.time_tick < 500)){
+                    new_dist.right = mr72_c_data.range;
+                    new_dist.time_tick = mr72_c_data.time_ms;
+                }
+            }
+            // last_range = mr72_c_data.range_f;
+            // if(fabs(mr72_c_data.azimuth) < 30.0 ){   // 中间区域
             //     if((abs(new_dist.mid - mr72_c_data.range) > 10)){
             //         new_dist.mid = mr72_c_data.range;
             //     }
-            // }else{  // 右边区域
-            //     if((abs(new_dist.right - mr72_c_data.range) > 10)){
-            //         new_dist.right = mr72_c_data.range;
-            //     }
-            // }
-            // last_range = mr72_c_data.range_f;
-            if(fabs(mr72_c_data.azimuth) < 30.0 ){   // 中间区域
-                if((abs(new_dist.mid - mr72_c_data.range) > 10)){
-                    new_dist.mid = mr72_c_data.range;
-                }
             
-            }
+            // }
             
         }
         decode_state = 0;
@@ -231,42 +236,40 @@ bool decode_mr72(int16_t c)
 
 void data_process(void){
     // 其中一个区块数据更新
-    if (abs(new_dist.mid - last_dist.mid)>10 || abs(new_dist.left - last_dist.left)>10 || abs(new_dist.right - last_dist.right)>10)
+    if (new_dist.time_tick - min_dist.time_tick < 500)
     {
         // 更新最后的数据
-        last_dist.mid = new_dist.mid;
-        last_dist.left = new_dist.left;
-        last_dist.right = new_dist.right;
+        min_dist.time_tick = new_dist.time_tick;
 
         if(min_dist.mid < 10){ // 如果最小值是0，则直接赋值
-            min_dist.mid = last_dist.mid;
+            min_dist.mid = new_dist.mid;
         }else{
-            min_dist.mid = min_dist.mid < last_dist.mid?min_dist.mid : last_dist.mid;
+            min_dist.mid = min_dist.mid < new_dist.mid?min_dist.mid : new_dist.mid;
         }
         if(min_dist.left < 10){
-            min_dist.left = last_dist.left;
+            min_dist.left = new_dist.left;
         }else{
-            min_dist.left = min_dist.left < last_dist.left?min_dist.left : last_dist.left;
+            min_dist.left = min_dist.left < new_dist.left?min_dist.left : new_dist.left;
         }
         if(min_dist.right < 10){
-            min_dist.right = last_dist.right;
+            min_dist.right = new_dist.right;
         }else{
-            min_dist.right = min_dist.right < last_dist.right?min_dist.right : last_dist.right;
+            min_dist.right = min_dist.right < new_dist.right?min_dist.right : new_dist.right;
         }
         
         last_data_tick = HAL_GetTick();
     }else{
         if (HAL_GetTick() - last_data_tick > 500)   // 数据0.5s没有更新，最小值赋值个大的值
         {
-            min_dist.mid = 3900;
-            min_dist.left = 3900;
-            min_dist.right = 3900;
+            min_dist.mid = 4500;
+            min_dist.left = 4500;
+            min_dist.right = 4500;
             last_data_tick = HAL_GetTick();
         }
         
     }
     
-    if (proximity1_queueHandle != NULL && HAL_GetTick() - uavcan_data_tick > 50)    // uavcan发送，50ms间隔
+    if (proximity1_queueHandle != NULL && HAL_GetTick() - uavcan_data_tick > 100)    // uavcan发送，50ms间隔
     {            
         proximity_t data;
         data.d0 = min_dist.mid;
@@ -279,6 +282,10 @@ void data_process(void){
         data.d315 = 4500;
         myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10);
         uavcan_data_tick = HAL_GetTick();
+        min_dist.mid = 4500;
+        min_dist.left = 4500;
+        min_dist.right = 4500;
+        
     }
 }
 

UAVCAN/uavcan.h

@@ -20,7 +20,7 @@ extern "C"
 #define ARRAY_SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
 
 #define APP_VERSION_MAJOR 1
-#define APP_VERSION_MINOR 1
+#define APP_VERSION_MINOR 2
 #define HARDWARE_VERSION_MAJOR 1
 #define APP_NODE_NAME "zrzk.proxi.1"
 #define GIT_HASH 0xBADC0FFE