From 247dc99db7f57d335caa554389efd2f002f83c1f Mon Sep 17 00:00:00 2001 From: zbr Date: Wed, 20 Apr 2022 17:25:04 +0800 Subject: [PATCH] =?UTF-8?q?=E8=88=B9=E5=8F=8C=E9=9B=B7=E8=BE=BE=E6=A8=A1?= =?UTF-8?q?=E5=BC=8F=EF=BC=8C=E7=BA=B3=E9=9B=B7=E7=89=88?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- App/freertos_action.c | 60 ++++++++++--------- BSP/insifhtica_QOAR1271.c | 26 ++++++-- .../proximity_uavcan_converter.uvguix.zengb | 12 ++-- MDK-ARM/proximity_uavcan_converter.uvoptx | 6 +- 4 files changed, 61 insertions(+), 43 deletions(-) diff --git a/App/freertos_action.c b/App/freertos_action.c index 79e92f7..0e81b54 100644 --- a/App/freertos_action.c +++ b/App/freertos_action.c @@ -155,44 +155,46 @@ void task_proximity(void) { os_p1 = osMessageQueueGet(proximity1_queueHandle, &proximity1, NULL, 120); os_p2 = osMessageQueueGet(proximity2_queueHandle, &proximity2, NULL, 120); - if((os_p1 == osOK) || (os_p2 == osOK)){ - uavcan_proximity_t data = {0}; - data.d0 = proximity1.d0; - data.d45 = proximity1.d45; - data.d90 = proximity1.d90; - data.d135 = proximity1.d135; - data.d180 = proximity1.d180; - data.d225 = proximity1.d225; - data.d270 = proximity1.d270; - data.d315 = proximity1.d315; - send_uavcan_proximity(&data); - } + // if((os_p1 == osOK) || (os_p2 == osOK)){ + // uavcan_proximity_t data = {0}; + // data.d0 = proximity1.d0; + // data.d45 = proximity1.d45; + // data.d90 = proximity1.d90; + // data.d135 = proximity1.d135; + // data.d180 = proximity1.d180; + // data.d225 = proximity1.d225; + // data.d270 = proximity1.d270; + // data.d315 = proximity1.d315; + // send_uavcan_proximity(&data); + // } // if ((os_p1 == osOK) && (os_p2 == osOK)) // { // uavcan_proximity_t data = {0}; // data.d0 = min(proximity1.d0, proximity2.d0); - // data.d315 = proximity1.d315; + // data.d90 = proximity1.d90; // data.d45 = proximity2.d45; // send_uavcan_proximity(&data); // } // else // { - // if (os_p1 == osOK) //左边的雷达是反的 - // { - // uavcan_proximity_t data = {0}; - // data.d0 = proximity1.d0; - // data.d315 = proximity1.d315; - // data.d45 = proximity1.d45; - // send_uavcan_proximity(&data); - // } - // else if (os_p2 == osOK) - // { - // uavcan_proximity_t data = {0}; - // data.d0 = proximity2.d0; - // data.d315 = proximity2.d315; - // data.d45 = proximity2.d45; - // send_uavcan_proximity(&data); - // } + uavcan_proximity_t data = {0}; + data.d0 = min(proximity1.d0, proximity2.d0); + if (os_p1 == osOK) //左边的雷达是反的 + { + // uavcan_proximity_t data = {0}; + data.d0 = proximity1.d0; + // data.d45 = proximity1.d90; + data.d90 = proximity1.d45; + send_uavcan_proximity(&data); + } + else if (os_p2 == osOK) + { + // uavcan_proximity_t data = {0}; + data.d0 = proximity2.d0; + data.d45 = proximity2.d45; + // data.d90 = proximity2.d90; + send_uavcan_proximity(&data); + } // } } } diff --git a/BSP/insifhtica_QOAR1271.c b/BSP/insifhtica_QOAR1271.c index cc62a6a..122dc53 100644 --- a/BSP/insifhtica_QOAR1271.c +++ b/BSP/insifhtica_QOAR1271.c @@ -34,7 +34,7 @@ void decode_ar1271(char c,uint8_t index); bool decode_mr72(int16_t c); void data_process_old(void); -void data_process(void); +void data_process(uint8_t index); void sortA1(uint16_t a[], uint8_t length); extern void parse_ar1271_data(usart_data_t *usart_data) @@ -50,7 +50,7 @@ extern void parse_ar1271_data(usart_data_t *usart_data) decode_ar1271(c,usart_data->usart_instance); } } - data_process(); + data_process(usart_data->usart_instance); osSemaphoreRelease(radar_parse_mutexHandle); } @@ -182,7 +182,7 @@ bool decode_mr72(int16_t c) // range_index +=1; // } // } - if(mr72_c_data.azimuth < 30.0 && mr72_c_data.azimuth > -30.0){ // 中间区域 + if(mr72_c_data.azimuth < 45.0 && mr72_c_data.azimuth > -45.0){ // 中间区域 int8_t had_index = -1; for(uint8_t i=0; i 100) // uavcan发送，50ms间隔 { @@ -243,7 +243,23 @@ void data_process(void){ data.d270 = MAX_MR71_DIST_CM; data.d315 = MAX_MR71_DIST_CM; } - myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10); + // myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10); + + if (index == 1) + { + if (proximity1_queueHandle != NULL) + { + myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10); + } + } + else if (index == 2) + { + if (proximity2_queueHandle != NULL) + { + myOsMessageQueuePut(proximity2_queueHandle, &data, 0, 10); + } + } + uavcan_data_tick = HAL_GetTick(); } diff --git a/MDK-ARM/proximity_uavcan_converter.uvguix.zengb b/MDK-ARM/proximity_uavcan_converter.uvguix.zengb index 6b848e5..98ef368 100644 --- a/MDK-ARM/proximity_uavcan_converter.uvguix.zengb +++ b/MDK-ARM/proximity_uavcan_converter.uvguix.zengb @@ -1806,7 +1806,7 @@ File 2676 - 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898 @@ -3624,9 +3624,9 @@ ..\BSP\insifhtica_QOAR1271.c - 75 - 294 - 309 + 20 + 27 + 46 1 0 diff --git a/MDK-ARM/proximity_uavcan_converter.uvoptx b/MDK-ARM/proximity_uavcan_converter.uvoptx index d5a1c71..1f1a991 100644 --- a/MDK-ARM/proximity_uavcan_converter.uvoptx +++ b/MDK-ARM/proximity_uavcan_converter.uvoptx @@ -186,16 +186,16 @@ 0 127 1 -
134250276
+
0
0 0 0 0 0 - 1 + 0 ..\BSP\insifhtica_QOAR1271.c - \\proximity_uavcan_converter\../BSP/insifhtica_QOAR1271.c\127 +