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proximity_uavcan_converter
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船双雷达模式，纳雷版

prx_boat_2
zbr 3 years ago
parent
c5742fb0e6
commit
247dc99db7
4 changed files with 61 additions and 43 deletions
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  1. 56
      App/freertos_action.c
  2. 24
      BSP/insifhtica_QOAR1271.c
  3. 12
      MDK-ARM/proximity_uavcan_converter.uvguix.zengb
  4. 6
      MDK-ARM/proximity_uavcan_converter.uvoptx

56
App/freertos_action.c
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@ -155,44 +155,46 @@ void task_proximity(void) @@ -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 = 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.d315 = proximity1.d315;
// data.d45 = proximity1.d45;
// send_uavcan_proximity(&data);
// }
// else if (os_p2 == osOK)
// {
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.d315 = proximity2.d315;
// data.d45 = proximity2.d45;
// send_uavcan_proximity(&data);
// }
data.d0 = proximity2.d0;
data.d45 = proximity2.d45;
// data.d90 = proximity2.d90;
send_uavcan_proximity(&data);
}
// }
}
}

24
BSP/insifhtica_QOAR1271.c
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@ -34,7 +34,7 @@ void decode_ar1271(char c,uint8_t index); @@ -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) @@ -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) @@ -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) @@ -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){ @@ -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();
}

12
MDK-ARM/proximity_uavcan_converter.uvguix.zengb
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File diff suppressed because one or more lines are too long

6
MDK-ARM/proximity_uavcan_converter.uvoptx
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@ -186,16 +186,16 @@ @@ -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>

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