From bd619cc30a587492d77301d3149faf58d4f3c5c9 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Wed, 9 Sep 2026 10:42:19 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AF=B9MK32=E5=92=8C=E9=99=80=E8=9E=BA?=
 =?UTF-8?q?=E4=BB=AA=E7=9A=84=E5=8F=91=E9=80=81=E6=B6=88=E6=81=AF=E5=81=9A?=
 =?UTF-8?q?=E9=99=8D=E9=A2=91=EF=BC=8C=E9=98=B2=E6=AD=A2=E6=B6=88=E6=81=AF?=
 =?UTF-8?q?=E9=98=9F=E5=88=97=E9=95=BF=E6=97=B6=E9=97=B4=E5=8D=A0=E6=BB=A1?=
 =?UTF-8?q?=E5=A4=84=E7=90=86=E4=B8=8D=E8=BF=87=E6=9D=A5=E3=80=82rbcore?=
 =?UTF-8?q?=E4=B9=9F=E8=B0=83=E5=A4=A7=E4=B8=BA2k?=
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---
 RBcore/BHBF.c                                  |  2 +-
 RBcore/TL720D.c                                | 10 +++++++++-
 project/paint_robot_new/paint_robot_new_MK32.c | 10 +++++++++-
 3 files changed, 19 insertions(+), 3 deletions(-)

diff --git a/RBcore/BHBF.c b/RBcore/BHBF.c
index af3aa5a..d7d4d0a 100644
--- a/RBcore/BHBF.c
+++ b/RBcore/BHBF.c
@@ -133,7 +133,7 @@ void RBcore_Init(void)
 
     const osThreadAttr_t GF_Dispatch_attributes = {
         .name = MODULE_NAME_RBCORE,
-        .stack_size = 1024,
+        .stack_size = 2048,
         .priority = (osPriority_t) osPriorityRealtime1,
     };
     (void)osThreadNew(RBcore_Task, NULL, &GF_Dispatch_attributes);
diff --git a/RBcore/TL720D.c b/RBcore/TL720D.c
index 247c5da..cce5dbc 100644
--- a/RBcore/TL720D.c
+++ b/RBcore/TL720D.c
@@ -19,6 +19,7 @@
 #include "msp_TL720D.pb.h"
 #include "BHBF.h"
 #include "msg_center.h"
+#include "rd_time.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -107,6 +108,8 @@ static int check_TL720D(char *_pBuffer, uint32_t _iSize)
 
 static void decode_TL720D(const char *buf, uint32_t _iSize)
 {
+	static uint32_t uiLastSendTick = 0;
+
 	g_stTL720D.RF_Angle_Roll = getDeci((uint8_t *)&buf[4]);
 	g_stTL720D.RF_Angle_Pitch = getDeci((uint8_t *)&buf[7]);
 	g_stTL720D.RF_Angle_Yaw = getDeci((uint8_t *)&buf[10]);
@@ -117,7 +120,12 @@ static void decode_TL720D(const char *buf, uint32_t _iSize)
 	g_stTL720D.RF_Gro_Y = getDeci((uint8_t *)&buf[25]);
 	g_stTL720D.RF_Gro_Z = getDeci((uint8_t *)&buf[28]);
 
-	MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t));
+	uint32_t uiNowTick = Rd_GetTime();
+	if ((int32_t)(uiNowTick - uiLastSendTick) >= 50)
+	{
+		uiLastSendTick = uiNowTick;
+		MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_TL720D_ROLL, (void *)&g_stTL720D.RF_Angle_Roll, sizeof(int32_t));
+	}
 }
 
 void Read_TL720D(void *argument)
diff --git a/project/paint_robot_new/paint_robot_new_MK32.c b/project/paint_robot_new/paint_robot_new_MK32.c
index d68f69a..8c49958 100644
--- a/project/paint_robot_new/paint_robot_new_MK32.c
+++ b/project/paint_robot_new/paint_robot_new_MK32.c
@@ -19,6 +19,7 @@
 #include "BHBF.h"
 #include "Protobuf/PSource/msp_MK32.pb.h"
 #include "msg_center.h"
+#include "rd_time.h"
 
 /*----------------------------------------------*
  * 外部变量说明                                 *
@@ -59,6 +60,8 @@ int check_MK32(char *_pBuffer, uint32_t _iSize)
 
 void decode_MK32(const char *buf, uint32_t _iSize)
 {
+    static uint32_t uiLastSendTick = 0;
+
 	int32_t CH[16];
 	int Start_byte = 0;
 
@@ -101,5 +104,10 @@ void decode_MK32(const char *buf, uint32_t _iSize)
 	}
 	RB_MK32.RxIndex++;
 
-	MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32));
+    uint32_t uiNowTick = Rd_GetTime();
+    if ((int32_t)(uiNowTick - uiLastSendTick) >= 50)
+    {
+        uiLastSendTick = uiNowTick;
+	    MsgCenter_SendTo(MODULE_NAME_CUSTOM, CUSTOM_GET_MK32, (void *)&RB_MK32, sizeof(RB_MK32));
+    }
 }