对MK32和陀螺仪的发送消息做降频，防止消息队列长时间占满处理不过来。rbcore也调大为2k

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);

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)

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));
+    }
 }