船双雷达模式，纳雷版

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)){
+            // if((os_p1 == osOK) || (os_p2 == osOK)){
-                uavcan_proximity_t data = {0};
+            //     uavcan_proximity_t data = {0};
-                data.d0 = proximity1.d0;
+            //     data.d0 = proximity1.d0;
-                data.d45 = proximity1.d45;
+            //     data.d45 = proximity1.d45;
-                data.d90 = proximity1.d90;
+            //     data.d90 = proximity1.d90;
-                data.d135 = proximity1.d135;
+            //     data.d135 = proximity1.d135;
-                data.d180 = proximity1.d180;
+            //     data.d180 = proximity1.d180;
-                data.d225 = proximity1.d225;
+            //     data.d225 = proximity1.d225;
-                data.d270 = proximity1.d270;
+            //     data.d270 = proximity1.d270;
-                data.d315 = proximity1.d315;
+            //     data.d315 = proximity1.d315;
-                send_uavcan_proximity(&data);
+            //     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 = 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.d0 = proximity1.d0;
-            //         data.d315 = proximity1.d315;
+                    // data.d45 = proximity1.d90;
-            //         data.d45 = proximity1.d45;
+                    data.d90 = proximity1.d45;
-            //         send_uavcan_proximity(&data);
+                    send_uavcan_proximity(&data);
-            //     }
+                }
-            //     else if (os_p2 == osOK)
+                else if (os_p2 == osOK)
-            //     {
+                {
                     // uavcan_proximity_t data = {0};
-            //         data.d0 = proximity2.d0;
+                    data.d0 = proximity2.d0;
-            //         data.d315 = proximity2.d315;
+                    data.d45 = proximity2.d45;
-            //         data.d45 = proximity2.d45;
+                    // data.d90 = proximity2.d90;
-            //         send_uavcan_proximity(&data);
+                    send_uavcan_proximity(&data);
-            //     }
+                }
             // }
         }
     }

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<range_index; i++){
                     if(index_arr[i] == mr72_c_data.index){
@@ -212,7 +212,7 @@ bool decode_mr72(int16_t c)
     return ret;
 }
 
-void data_process(void){
+void data_process(uint8_t index){
     // 其中一个区块数据更新
     if (proximity1_queueHandle != NULL && HAL_GetTick() - uavcan_data_tick > 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);
+        
+        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();
     }
 

MDK-ARM/proximity_uavcan_converter.uvoptx

@@ -186,16 +186,16 @@
           <Type>0</Type>
           <LineNumber>127</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134250276</Address>
+          <Address>0</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
+          <BreakIfRCount>0</BreakIfRCount>
           <Filename>..\BSP\insifhtica_QOAR1271.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\proximity_uavcan_converter\../BSP/insifhtica_QOAR1271.c\127</Expression>
+          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>