修改OTA升级为双线程方式，边收数据边升级

app/drivers/sertrf/ota_u.h

@@ -15,7 +15,7 @@ typedef struct
     esp_ota_handle_t ota_handle;
     int total_size;
     uint16_t ota_data_cnt;
-    uint8_t ota_buff[20480 + 512];
+    // uint8_t ota_buff[20480 + 512];
 }ota_u_t;
 
 typedef struct 

app/drivers/sertrf/protocol/resend_protl.h

@@ -34,6 +34,8 @@ typedef enum
 
     RESEND_CMD_DATA_ACK = 0x06,
 
+    RESEND_CMD_MODE_STATUS = 0x07,
+
     RESEND_CMD_OTA_GET_PARAM = 0x010,
     RESEND_CMD_OTA_START = 0x011,
     RESEND_CMD_OTA_DATA = 0x012,

app/drivers/sertrf/sertrf.c

@@ -33,6 +33,10 @@ void sertrf_init(void)
 
     //获取飞控代码地址
     sertrf.fc_address = parse_hex_or_dec(FC_ADDRESS);
+
+    //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();
     
@@ -44,13 +48,13 @@ void sertrf_start(void)
                      "embedded_thread",
                      embedded_thread,
                      NULL,
-                     4096,
+                     2048,
                      20);
     os_thread_create(&sertrf.pc_thread,
                      "pc_thread",
                      pc_thread,
                      NULL,
-                     4096,
+                     2048,
                      20);
     os_thread_create(&sertrf.app_thread,
                      "app_thread",
@@ -64,6 +68,12 @@ void sertrf_start(void)
                      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)
 {
@@ -210,6 +220,58 @@ void task_thread(void* arg)
         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;
+            default:
+                break;
+        }
+        os_thread_sleep(1);
+    }
+}
 void pc_link_rgb_color(device_t* device)
 {
     static uint8_t last_connect = 255, last_wifi_mode = 0;
@@ -338,27 +400,24 @@ void resend_user_parse(void *resend_device)
             break;
         case RESEND_CMD_OTA_DATA:
         {
-            memcpy(sertrf.otau.ota_buff + sertrf.otau.ota_data_cnt, sertrf.resend_device.rx_frame.payload, sertrf.resend_device.rx_frame.len);
+            protocol_set_message_status(MESSAGE_OTA);
-
+            // 使用环形buff
-            sertrf.otau.ota_data_cnt +=  sertrf.resend_device.rx_frame.len;
+            if(rb_size(&sertrf.data_handle_buffer) + sertrf.resend_device.rx_frame.len <= DATA_HANDLE_BUFFER_SIZE)
-            // if(!sertrf.resend_device.status.resend_flag)
-            if(sertrf.otau.ota_data_cnt >= 20480 )
             {
-                SYS_LOG_DBG("KUYI_CMD_OTA_DATA %d\n", sertrf.resend_device.rx_frame.seq);
+                rb_put_bulk(&sertrf.data_handle_buffer, sertrf.resend_device.rx_frame.payload, sertrf.resend_device.rx_frame.len);
-                otau_write(&sertrf.otau, sertrf.otau.ota_buff, sertrf.otau.ota_data_cnt);
+            }
-                sertrf.otau.ota_data_cnt = 0;
+            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:
         {
-            if(sertrf.otau.ota_data_cnt > 0)
+            sertrf.mode_status.task_state = DATA_HANDLE_OTA_DATA_END;
-            {
+            while (sertrf.mode_status.task_state != DATA_HANDLE_IDLE){
-                otau_write(&sertrf.otau, sertrf.otau.ota_buff, sertrf.otau.ota_data_cnt);
+                os_thread_sleep(10);} 
-                sertrf.otau.ota_data_cnt = 0;
-            }
-            // if(!sertrf.resend_device.status.resend_flag)
             otau_end(&sertrf.otau);
             resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
             os_thread_sleep(2);

app/drivers/sertrf/sertrf.h

@@ -7,17 +7,35 @@
 #include "protocol/resend_protl.h"
 #include "protocol/stmisp.h"
 #include "ota_u.h"
+#include "tool.h"
+#include "ring_buffer.h"
 #include "../../config/app_config.h"
 
 #define FC_ADDRESS "0x08000000"
+#define DATA_HANDLE_BUFFER_SIZE 4096
+typedef enum
+{
+    DATA_HANDLE_IDLE = 0,
+    DATA_HANDLE_OTA_DATA,
+    DATA_HANDLE_OTA_DATA_END,
+}data_handle_e;
+typedef struct 
+{
+    data_handle_e task_state;
 
+}sertrf_mode_status_t;
 typedef struct 
 {
     device_t device;
-    os_thread_t embedded_thread;
+    // 任务
-    os_thread_t pc_thread;
+    os_thread_t embedded_thread;    //处理飞控接收
-    os_thread_t task_thread;
+    os_thread_t pc_thread;          //处理app接收
-    os_thread_t app_thread;
+    os_thread_t task_thread;        //处理其他任务
+    os_thread_t app_thread;         //处理app任务
+    os_thread_t data_handle_thread; //数据处理任务
+
+    sertrf_mode_status_t mode_status;
+    // ota
     ota_u_t otau;
 
     //自定义协议
@@ -27,6 +45,8 @@ typedef struct
     //STMISP协议
     stmisp_device_t stmisp_device;
     
+    // 环形buff
+    RingBuffer data_handle_buffer;
     uint32_t fc_address;
 }sertrf_t;
 
@@ -80,6 +100,11 @@ void app_thread(void* arg);
  * @brief task thread
  */
 void task_thread(void* arg);
+/**
+ * @brief data handle thread
+ */
+void data_handle_thread(void* arg);
+
 /**
  * @brief 根据连接状态显示不同的颜色
  *