From 6172ab36fc6978b912ed8f8fb786f841a95d8273 Mon Sep 17 00:00:00 2001
From: zbr <zbr3550@sina.com>
Date: Sat, 2 Apr 2022 18:28:05 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=9C=80=E5=B0=8F=E8=B7=9D?=
 =?UTF-8?q?=E7=A6=BB=E5=80=BC=EF=BC=8C=E6=9C=AA=E6=88=90=E5=8A=9F?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 BSP/insifhtica_QOAR1271.c                     | 17 ++++++++++++----
 .../proximity_uavcan_converter.uvguix.zengb   | 20 +++++++++----------
 2 files changed, 23 insertions(+), 14 deletions(-)

diff --git a/BSP/insifhtica_QOAR1271.c b/BSP/insifhtica_QOAR1271.c
index d4eee82..7138207 100644
--- a/BSP/insifhtica_QOAR1271.c
+++ b/BSP/insifhtica_QOAR1271.c
@@ -24,11 +24,13 @@ struct mr72_c{
     uint8_t rollcount;
     uint8_t rcs;
 }mr72_c_data;
-struct effective_distance
+typedef struct  effective_distance
 {
     uint16_t dist_cm;
     uint32_t time_ms;
-}eff_distance;
+};
+struct effective_distance eff_distance;
+struct effective_distance min_distance;
 
 uint16_t range_arr[8];
 float last_range;
@@ -206,11 +208,17 @@ bool decode_mr72(int16_t c)
 void data_process(void){
     // 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
-    {            
+    {   
         proximity_t data;
         if (HAL_GetTick() - eff_distance.time_ms < 500)
         {
-            data.d0 = eff_distance.dist_cm;
+            
+            if(min_distance.dist_cm < 10){ // 如果最小值是0，则直接赋值
+                min_distance.dist_cm = eff_distance.dist_cm;
+            }else{
+                min_distance.dist_cm = min_distance.dist_cm <  eff_distance.dist_cm?min_distance.dist_cm :  eff_distance.dist_cm;
+            }
+            data.d0 = min_distance.dist_cm;
         }else{
             data.d0 = 3900;
         }
@@ -223,6 +231,7 @@ void data_process(void){
         data.d315 = 4500;
         myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10);
         uavcan_data_tick = HAL_GetTick();
+        min_distance.dist_cm = 3800;
     }
 }
 
diff --git a/MDK-ARM/proximity_uavcan_converter.uvguix.zengb b/MDK-ARM/proximity_uavcan_converter.uvguix.zengb
index 1a5afd8..f8d4c3c 100644
--- a/MDK-ARM/proximity_uavcan_converter.uvguix.zengb
+++ b/MDK-ARM/proximity_uavcan_converter.uvguix.zengb
@@ -25,7 +25,7 @@
     <View>
       <WinId>204</WinId>
       <ViewName>Performance Analyzer</ViewName>
-      <TableColWidths>720 175 175 100</TableColWidths>
+      <TableColWidths>1170</TableColWidths>
     </View>
   </SECTreeCtrl>
 
@@ -530,7 +530,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000BF02000092050000CD030000</Data>
+          <Data>03000000BF0200007D070000CD030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1150,7 +1150,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>0300000066000000ED00000082020000</Data>
+          <Data>0300000066000000ED0000008B020000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1170,7 +1170,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000BF02000092050000CD030000</Data>
+          <Data>03000000BF0200007D070000CD030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1190,7 +1190,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000BF02000092050000CD030000</Data>
+          <Data>03000000BF0200007D070000CD030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1250,7 +1250,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000BF02000092050000CD030000</Data>
+          <Data>03000000BF0200007D070000CD030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1270,7 +1270,7 @@
         <RecentRowIndex>0</RecentRowIndex>
         <RectRecentDocked>
           <Len>16</Len>
-          <Data>03000000BF02000092050000CD030000</Data>
+          <Data>03000000BF0200007D070000CD030000</Data>
         </RectRecentDocked>
         <RectRecentFloat>
           <Len>16</Len>
@@ -1799,7 +1799,7 @@
       </Window>
       <DockMan>
         <Len>3312</Len>
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       <Doc>
         <Name>..\BSP\insifhtica_QOAR1271.c</Name>
         <ColumnNumber>12</ColumnNumber>
-        <TopLine>101</TopLine>
+        <TopLine>95</TopLine>
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