ESPC3-wireless/app/drivers/sertrf/sertrf.c

#include "sertrf.h"

//设置日志打印类型
#define CONFIG_SYS_LOG_LEVEL SYS_LOG_LEVEL_INF
#define SYS_LOG_DOMAIN "Seryrf"

sertrf_t sertrf;

void sertrf_init(void)
{
    uint8_t res = 0;
    res = device_init(&sertrf.device);
    if(res)
    {
        SYS_LOG_WRN("device init error");
    }
    // 打开SYS_LOG打印
    app_cfg_set_sys_log(true);
    // 协议初始化
    Protocol_init(PORT_LINUX_SBDATA, sertrf.device.embedded_device);
    //RGB灯
    work_rgb_led_start();
    //按键初始化
    button_work_init();
    // 协议初始化
    sertrf.resend_read_mutex = xSemaphoreCreateMutex();
    resend_init(&sertrf.resend_device, resend_send, resend_recv, resend_get_length,resend_user_parse);
    // stmisp协议初始化
    stmisp_init(&sertrf.stmisp_device,stmisp_send,stmisp_recv,stmisp_get_length);
    
    //OAT信息获取
    get_partition_status(&sertrf.otau);

    //获取飞控代码地址
    sertrf.fc_address = parse_hex_or_dec(FC_ADDRESS);

    //获取加密后的efuse MAC 地址
    if(!esp_efuse_mac_get_default_id(sertrf.efuse_mac))
    {
        sertrf_aes_ctr_encrypt(sertrf.efuse_mac, 6, sertrf.efuse_mac_encrypt);
    }
    //初始化环形buff
    rb_init(&sertrf.data_handle_buffer, DATA_HANDLE_BUFFER_SIZE, sizeof(uint8_t));

    //线程启动
    sertrf_start();
    
    SYS_LOG_INF("sertrf init ok");
}
void sertrf_start(void)
{
    os_thread_create(&sertrf.embedded_thread,
                     "embedded_thread",
                     embedded_thread,
                     NULL,
                     4096,
                     20);
    os_thread_create(&sertrf.pc_thread,
                     "pc_thread",
                     pc_thread,
                     NULL,
                     4096,
                     20);
    os_thread_create(&sertrf.app_thread,
                     "app_thread",
                     app_thread,
                     NULL,
                     4096,
                     15);
    os_thread_create(&sertrf.task_thread,
                     "task_thread",
                     task_thread,
                     NULL,
                     2048,
                     10);
    os_thread_create(&sertrf.data_handle_thread,
                     "data_handle_thread",
                     data_handle_thread,
                     NULL,
                     4096,
                     10);
}
void sertrf_rf_switch(uint8_t on)
{
    switch(on)
    {
        case 1:
            rf_start(&sertrf.device);
            break;
        case 0:
            rf_stop(&sertrf.device);
            break;
    }
}
//因为 串口
void embedded_thread(void* arg)
{
    while(true)
    {
        uint32_t embedded_size = embedded_device_get_rx_length(&sertrf.device);
        if(embedded_size > 0)
        {
            uint8_t data[embedded_size ];
            // data[embedded_size] = '\0';
            if(!sertrf.stmisp_device.flag)
                embedded_device_read(&sertrf.device, data, embedded_size,0);

            Protocol_buf_decode(data, embedded_size);
            // SYS_LOG_INF("data : %s", data);
            pc_device_write(&sertrf.device, data, embedded_size);
        }
        // printf_chill_time(10,1000);
        
        //需要添加一些延时，否则会卡死，导致看门狗复位
        // vTaskDelay(( TickType_t ) 1000 / configTICK_RATE_HZ);
        os_thread_sleep(1);
    }
}
void pc_thread(void* arg)
{
    static bool app_pc_discard = true;
    while(true)
    {
        uint32_t pc_size = pc_device_get_rx_length(&sertrf.device);
        
        if(pc_size > 0)
        {
            uint8_t data[pc_size];
            pc_device_read(&sertrf.device, data, pc_size);
            // SYS_LOG_INF("data : %s", data);
            // 由于APP连接上后，会发送一串我用不到的数据，需要丢弃掉，不然会影响我异常飞控固件升级  
            if(sertrf.device.ble_one_connect_flag == 1)
            {
                sertrf.device.ble_one_connect_flag = 0;
                continue;
            }
            if(!sertrf.stmisp_device.flag)
                embedded_device_write(&sertrf.device, data, pc_size);
        }
        // printf_chill_time(10,1000);
        
        //需要添加一些延时，否则会卡死，导致看门狗复位
        // vTaskDelay(( TickType_t ) 1000 / configTICK_RATE_HZ);
        os_thread_sleep(1);
    }
}
void app_thread(void* arg)
{
    while (true)
    {
        switch(sertrf.resend_device.handle_flag)
        {
            case RESEND_CMD_GET_PARAM:
                sertrf_stauct_t sertrf_stauct;

                strcpy(sertrf_stauct.ble_name, g_cfg_app->device_name_ble);
                strcpy(sertrf_stauct.wifi_ap_ssid, g_cfg_app->app_config_wifi_para.wifi_ap_ssid);
                strcpy(sertrf_stauct.wifi_ap_password, g_cfg_app->app_config_wifi_para.wifi_ap_password);
                strcpy(sertrf_stauct.wifi_sta_ssid, g_cfg_app->app_config_wifi_para.wifi_sta_ssid);
                strcpy(sertrf_stauct.wifi_sta_password, g_cfg_app->app_config_wifi_para.wifi_sta_password);
                memcpy(sertrf_stauct.efuse_mac_encrypt, sertrf.efuse_mac_encrypt, 6);
                resend_send_data(&sertrf.resend_device, RESEND_CMD_GET_PARAM, &sertrf_stauct, sizeof(sertrf_stauct_t), 1000);

                sertrf.resend_device.handle_flag = 0;//标志位清零
                break;
            case RESEND_CMD_OTA_GET_PARAM:
                printf("RESEND_CMD_OTA_GET_PARAM\r\n");
                ota_parm_t ota_parm;
                resend_send_data(&sertrf.resend_device, RESEND_CMD_OTA_GET_PARAM, &ota_parm, sizeof(ota_parm_t), 1000);
                sertrf.resend_device.handle_flag = 0;//标志位清零
                break;
            case RESEND_CMD_FC_ISP_GET_PARAM:
                printf("RESEND_CMD_FC_ISP_GET_PARAM\r\n");
                stmisp_parm_t stmisp_parm;
                resend_send_data(&sertrf.resend_device, RESEND_CMD_FC_ISP_GET_PARAM, &stmisp_parm, sizeof(stmisp_parm), 1000);
                sertrf.resend_device.handle_flag = 0;//标志位清零
                break;
            default:
                break;
        }
        resend_recv_data(&sertrf.resend_device, 0);
        // static uint8_t count = 0;
        // count++;
        // if(count > 100)
        // {
        //     // resend_send_cmd(&sertrf.resend_device, RESEND_CMD_ACK, 0);
        //     resend_send_data(&sertrf.resend_device, RESEND_CMD_GET_PARAM, NULL, 0, 0);
        //     // count = 0;
        // }
        // uint32_t app_size = app_device_get_rx_length(&sertrf.device);
        
        // if(app_size > 0)
        // {
        //     uint8_t data[app_size];
        //     app_device_read(&sertrf.device, data, app_size,0);
        //     printf("data:%d:%s\n", app_size,data);
        // }
        os_thread_sleep(1);
    }
    
}
void task_thread(void* arg)
{
    while(true)
    {
        size_t start_time = os_get_sys_time();
        pc_link_rgb_color(&sertrf.device);

        if(sertrf.device.connect_pc > DISCONNECT)
        {
            static size_t end_time = 0;
            if(start_time - end_time > 2000)
            {
                sertrf.fc_protocol_status = get_protocol_status();
                switch(sertrf.fc_protocol_status)
                {
                    case PROTOCOL_STATUS_OK:
                        // rgb_color_change(1, sertrf.device.last_color);
                        rgb_color_change(1, RGB_COLOR_ORANGE);
                        break;
                    case PROTOCOL_STATUS_NO_DATA:
                        rgb_color_change(1, RGB_COLOR_RAD);
                        break;
                    case PROTOCOL_STATUS_TYPE_IDLE:
                        rgb_color_change(1, RGB_COLOR_RAD);
                        break;
                    case PROTOCOL_STATUS_ANALYSIS_ERROR:
                        rgb_color_change(1, RGB_COLOR_RAD);
                        break;
                    case PROTOCOL_STATUS_IN_OTA:
                        rgb_color_change(1, RGB_COLOR_BLUE);
                    default:
                        break;
                }
                end_time = os_get_sys_time();
            }
        }

        os_thread_sleep(100); 
    }
}

void data_handle_thread(void* arg)
{
    while(true)
    {
        switch(sertrf.mode_status.task_state)
        {   
            case DATA_HANDLE_OTA_DATA:
            {
                size_t data_size = rb_size(&sertrf.data_handle_buffer);
                if(data_size > 1024)
                {
                    uint8_t data[data_size];
                    rb_get_bulk(&sertrf.data_handle_buffer, data, data_size);

                    if(otau_write(&sertrf.otau, data, data_size))
                    {
                        SYS_LOG_DBG("stmisp write error");
                    }
                    else
                    {
                        SYS_LOG_DBG("stmisp write ok");
                    }
                }
                
            }
                break;
            case DATA_HANDLE_OTA_DATA_END:
            {
                size_t data_size = rb_size(&sertrf.data_handle_buffer);
                if(data_size > 0)
                {
                    uint8_t data[data_size];
                    rb_get_bulk(&sertrf.data_handle_buffer, data, data_size);
                    if(otau_write(&sertrf.otau, data, data_size))
                    {
                        SYS_LOG_DBG("stmisp write error");
                    }
                    else
                    {
                        SYS_LOG_DBG("stmisp write ok");
                        sertrf.mode_status.task_state = DATA_HANDLE_IDLE;
                    }
                }
            }
                break;
            case DATA_HANDLE_ISP_DATA:
            {
                size_t data_size = rb_size(&sertrf.data_handle_buffer);
                if(data_size > 0)
                {
                    uint8_t data[data_size];
                    rb_get_bulk(&sertrf.data_handle_buffer, data, data_size);

                    uint32_t addr = sertrf.fc_address + sertrf.stmisp_device.adder_offset; 

                    if(cmd_write_memory(&sertrf.stmisp_device, addr, data, data_size, false))
                    {
                        resend_send_cmd(&sertrf.resend_device, RESEND_CMD_ACK, 0);
                        sertrf.stmisp_device.adder_offset += data_size;
                        SYS_LOG_INF("stmisp write ok %d %d\n",data_size, sertrf.stmisp_device.adder_offset);
                    }
                    else
                    {
                        sertrf.stmisp_device.adder_offset = 0;
                        sertrf.mode_status.task_state = DATA_HANDLE_IDLE;
                        SYS_LOG_DBG("stmisp write error");
                    }
                }
            }
                break;
            case DATA_HANDLE_ISP_DATA_END:
            {
                size_t data_size = rb_size(&sertrf.data_handle_buffer);
                if(data_size > 0)
                {
                    uint8_t data[data_size];
                    rb_get_bulk(&sertrf.data_handle_buffer, data, data_size);

                    uint32_t addr = sertrf.fc_address + sertrf.stmisp_device.adder_offset;

                    if(cmd_write_memory(&sertrf.stmisp_device, addr, data, data_size, true))
                    {
                        sertrf.stmisp_device.adder_offset = 0;
                        sertrf.mode_status.task_state = DATA_HANDLE_IDLE;
                    }
                    else
                    {
                        SYS_LOG_DBG("stmisp write end error");
                    }
                }
                else
                {
                    sertrf.stmisp_device.adder_offset = 0;
                    sertrf.mode_status.task_state = DATA_HANDLE_IDLE;
                }
            }
                break;
            default:
                break;
        }
        os_thread_sleep(1);
    }
}
void pc_link_rgb_color(device_t* device)
{
    static uint8_t last_connect = 255, last_wifi_mode = 0;
    uint8_t new_color = 0;
    if(device->connect_pc != last_connect || last_wifi_mode != device->init_device.wifi_mode)
    {
        switch (device->connect_pc)
        {
            case DISCONNECT:
            {
                if(device->init_device.wifi_mode == WIFI_NETIF_MODE_AP)
                    new_color = RGB_COLOR_GREEN_WHITE;
                else
                    new_color = RGB_COLOR_GREEN_PURPLE;
                break;
            }    
            case CONNECT_WIFI_TCP:
            {
                if(device->init_device.wifi_mode == WIFI_NETIF_MODE_AP)
                    new_color = RGB_COLOR_WHITE;
                else
                    new_color = RGB_COLOR_PURPLE;

                break;
            }
            case CONNECT_WIFI_UDP:
            {
                if(device->init_device.wifi_mode == WIFI_NETIF_MODE_AP)
                    new_color = RGB_COLOR_WHITE;
                else
                    new_color = RGB_COLOR_PURPLE;

                break;
            }
            case CONNECT_BLE:
            {
                new_color = RGB_COLOR_GREEN;
            }
                break;
            case CONNECT_RF_OFF:
            {
                new_color = RGB_COLOR_BLUE;
            }
                break;
        }

        if(device->last_color != new_color)
            rgb_color_change(0,new_color);

        device->last_color = new_color;

        last_connect = device->connect_pc;
        last_wifi_mode = device->init_device.wifi_mode;

        if(device->connect_pc == DISCONNECT)
        {
            rgb_update_cyle(0,50);
        }
        else if(device->connect_pc){
            rgb_update_cyle(0,888);
        }else{
            rgb_update_cyle(0,500);
        }
    }
}

int resend_send(void* data, uint16_t len, int timeout)
{
    return app_device_write(&sertrf.device, data, len);
}
int resend_recv(void* data, uint16_t len, int timeout)
{
    int ret = 0;
    
    if (xSemaphoreTake(sertrf.resend_read_mutex, portMAX_DELAY) == pdTRUE)
    {
        ret = app_device_read(&sertrf.device, data, len,timeout);
        xSemaphoreGive(sertrf.resend_read_mutex);
    }
    return ret;
}
int resend_get_length(void)
{
    return app_device_get_rx_length(&sertrf.device);
}
void resend_user_parse(void *resend_device) 
{
    resend_device_t* resend_parse = (resend_device_t*)resend_device;
    switch(resend_parse->rx_frame.cmd)
    {
        case RESEND_CMD_SET_PARAM:
            // 减6的目的是因为华哥没对MAC进行处理，所以也不返回
            if(sizeof(sertrf_stauct_t) - 6 != resend_parse->rx_frame.len)
            {
                printf("RESEND_CMD_SET_PARAM len error\r\n");
            }
            sertrf_stauct_t* sertrf_stauct = (sertrf_stauct_t*)resend_parse->rx_frame.payload;
            
            app_cfg_set_device_name_ble(sertrf_stauct->ble_name, strlen(sertrf_stauct->ble_name));
            app_cfg_set_wifi_ap_ssid(sertrf_stauct->wifi_ap_ssid);
            app_cfg_set_wifi_ap_password(sertrf_stauct->wifi_ap_password);
            app_cfg_set_wifi_sta_ssid(sertrf_stauct->wifi_sta_ssid);
            app_cfg_set_wifi_sta_password(sertrf_stauct->wifi_sta_password);
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
            os_thread_sleep(1000);
            esp_restart();
            break;
        case RESEND_CMD_OTA_GET_PARAM:
        {
            if(sizeof(ota_parm_t) != resend_parse->rx_frame.len)
            {
                printf("RESEND_CMD_OTA_GET_PARAM len error\r\n");
            }
            ota_parm_t* ota_parm = (ota_parm_t*)resend_parse->rx_frame.payload;
            printf("RESEND_CMD_OTA_GET_PARAM %d\n", ota_parm->ota_file_size);
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
        }
            break;
        case RESEND_CMD_OTA_START:
        {
            //设置协议状态，为了后续灯颜色变化
            protocol_set_message_status(MESSAGE_OTA);
            // if(!sertrf.resend_device.status.resend_flag)
            //初始化ota会占用大量系统资源，需要先把飞控获取数据关闭，不然会导致栈溢出
            sb_data_port_stop(sertrf.device.embedded_device);
            otau_init(&sertrf.otau);


            sertrf.mode_status.task_state = DATA_HANDLE_OTA_DATA;
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
        }
            break;
        case RESEND_CMD_OTA_DATA:
        {
            protocol_set_message_status(MESSAGE_OTA);
            // 使用环形buff
            if(rb_size(&sertrf.data_handle_buffer) + sertrf.resend_device.rx_frame.len <= DATA_HANDLE_BUFFER_SIZE)
            {
                rb_put_bulk(&sertrf.data_handle_buffer, sertrf.resend_device.rx_frame.payload, sertrf.resend_device.rx_frame.len);
            }
            else 
            {
                SYS_LOG_DBG("RESEND_CMD_OTA_DATA buffer full");
            }
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
        }
            break;
        case RESEND_CMD_OTA_END:
        {
            sertrf.mode_status.task_state = DATA_HANDLE_OTA_DATA_END;
            while (sertrf.mode_status.task_state != DATA_HANDLE_IDLE){
                os_thread_sleep(10);} 
            otau_end(&sertrf.otau);
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
            os_thread_sleep(2);
            esp_restart();
        }
        break;

        case RESEND_CMD_FC_ISP_GET_PARAM:
            if(sizeof(stmisp_parm_t) != resend_parse->rx_frame.len)
            {
                printf("RESEND_CMD_FC_ISP_GET_PARAM len error\r\n");
            }
            stmisp_parm_t* stmisp_parm = (stmisp_parm_t*)resend_parse->rx_frame.payload;
            printf("RESEND_CMD_FC_ISP_GET_PARAM %d\n", stmisp_parm->stmisp_file_size);
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
            break;
        case RESEND_CMD_FC_ISP_START:
            /*关闭其他线程中相同串口的使用，并复位飞控，使其进入isp烧录模式，串口切换为偶校验模式
            使用sync与isp确定通讯波特率，并建立联系 解除其写保护 并重新sync建立连接后擦除全部区域内存*/
            //关闭其他线程中相同串口的使用
            sertrf.stmisp_device.flag = 1;
            // 修改灯珠颜色
            protocol_set_message_status(MESSAGE_FC_ISP);
            // 重启飞控，并使其进入isp烧录模式 需要在能够识别飞控的情况下才需要重启
            if(sertrf.fc_protocol_status != PROTOCOL_STATUS_TYPE_IDLE && sertrf.fc_protocol_status != PROTOCOL_STATUS_NO_DATA)
                fc_reboot();
            boot_set(0);
            os_thread_sleep(1000);
            //串口切换为偶校验模式，并清除缓存
            uart_set_parity_switch(sertrf.device.embedded_device, 0x02);
            os_thread_sleep(100);
            // 与isp确定通讯波特率，并建立联系
            if(!send_sync(&sertrf.stmisp_device, 5))
            {
                printf("stmisp: sync error\n");
                // app_send_error_code(SERTRF_ERROR_FC_ISP_SYNC);
                break;
            }
            else
                printf("stmisp: sync ok\n");

            os_thread_sleep(100);

            // 解除写保护
            if(!cmd_write_unprotect(&sertrf.stmisp_device))
                printf("stmisp: write unprotect error\n");
            else
                printf("stmisp: write unprotect ok\n");

            os_thread_sleep(100);
            

            if(!send_sync(&sertrf.stmisp_device, 5))
                printf("stmisp: sync error\n");
            else
                printf("stmisp: sync ok\n");
            os_thread_sleep(100);
            
            boot_set_high_z();
            // 全盘擦除
            if(!cmd_extended_erase_mass(&sertrf.stmisp_device))
                printf("stmisp: erase mass error\n");
            else 
                printf("stmisp: erase mass ok\n");

            os_thread_sleep(10);

            printf("stmisp: isp start\n");

            sertrf.mode_status.task_state = DATA_HANDLE_ISP_DATA;
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
            break;
        case RESEND_CMD_FC_ISP_DATA:
            // 使用环形buff
            if(rb_size(&sertrf.data_handle_buffer) + sertrf.resend_device.rx_frame.len <= DATA_HANDLE_BUFFER_SIZE)
            {
                rb_put_bulk(&sertrf.data_handle_buffer, sertrf.resend_device.rx_frame.payload, sertrf.resend_device.rx_frame.len);
            }
            else 
            {
                SYS_LOG_DBG("RESEND_CMD_FC_ISP_DATA buffer full");
            }
            // resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
            break;
        case RESEND_CMD_FC_ISP_END:
            // 告诉数据处理线程，ISP烧录数据传输完成
            sertrf.mode_status.task_state = DATA_HANDLE_ISP_DATA_END;
            // 等待数据处理线程写入完成
            SYS_LOG_INF("RESEND_CMD_FC_ISP_END1");
            while(sertrf.mode_status.task_state != DATA_HANDLE_IDLE){
                os_thread_sleep(10);}
            // ISP下跳转到应用层运行地址
            if(cmd_go(&sertrf.stmisp_device, sertrf.fc_address))
            {
                printf("stmisp: go ok\n");
            }
            else
            {
                printf("stmisp: go error\n");
            }
            //开启其他线程中相同串口的使用
            sertrf.stmisp_device.flag = 0;
            // 将串口切换为无校验模式
            uart_set_parity_switch(sertrf.device.embedded_device, 0x00);
            SYS_LOG_INF("RESEND_CMD_FC_ISP_END2");
            resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
            break;

        default:
            break;
    }
}


void Examples_run(void)
{
    // // //关闭其他线程中相同串口的使用
    sertrf.stmisp_device.flag = 1;
    // // // 重启飞控，并使其进入isp烧录模式
    fc_reboot();
    boot_set(0);
    os_thread_sleep(500);
    uart_set_parity_switch(sertrf.device.embedded_device, 0x02);
    os_thread_sleep(500);
    // 与isp确定通讯波特率，并建立联系
    if(!send_sync(&sertrf.stmisp_device, 5))
        printf("stmisp: sync error\n");
    else
        printf("stmisp: sync ok\n");

    os_thread_sleep(100);

    // 解除写保护
    if(!cmd_write_unprotect(&sertrf.stmisp_device))
        printf("stmisp: write unprotect error\n");
    else
        printf("stmisp: write unprotect ok\n");

    os_thread_sleep(100);
    if(!send_sync(&sertrf.stmisp_device, 5))
        printf("stmisp: sync error\n");
    else
        printf("stmisp: sync ok\n");
    os_thread_sleep(100);
    
    boot_set_high_z();
    // 全盘擦除
    if(!cmd_extended_erase_mass(&sertrf.stmisp_device))
        printf("stmisp: erase mass error\n");
    else 
        printf("stmisp: erase mass ok\n");

    os_thread_sleep(10);

    printf("stmisp: isp start\n");

}
int stmisp_send(void* data, uint16_t len, int timeout)
{
    return embedded_device_write(&sertrf.device, data, len);
}
int stmisp_recv(void* data, uint16_t len, int timeout)
{
    uint32_t time_start = os_get_sys_time();
    int size = 0;
    while(os_get_sys_time() - time_start < timeout)
    {
        size = embedded_device_read(&sertrf.device, data, len, 0);
        if(size > 0)
            return size;
        os_thread_sleep(1);
    }
    return size;
}
int stmisp_get_length(void)
{
    return embedded_device_get_rx_length(&sertrf.device);
}

int app_send_error_code(uint8_t error_code)
{
    sertrf.mode_status.sertrf_error_code = error_code;

    return resend_send_data(&sertrf.resend_device, RESEND_CMD_ERROR_CODE, &sertrf.mode_status.sertrf_error_code, sizeof(sertrf_mode_status_t), 1000);
}