From 2e5b3416a684dd2569344e7f6939fdee8b2f360a Mon Sep 17 00:00:00 2001
From: OPTOC <9159397+optoc@user.noreply.gitee.com>
Date: Tue, 2 Sep 2025 14:20:56 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0=E8=87=AA=E5=8A=A8=E8=AF=86?=
 =?UTF-8?q?=E5=88=ABMSP=E6=88=96=E8=80=85MAVLINK=EF=BC=8C=E4=BB=A5?=
 =?UTF-8?q?=E5=8F=8A=E6=95=B0=E6=8D=AE=E8=A7=A3=E6=9E=90=E5=8A=9F=E8=83=BD?=
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---
 app/CMakeLists.txt          | 6 +++++-
 app/drivers/sertrf/sertrf.c | 7 ++++++-
 app/drivers/sertrf/sertrf.h | 2 ++
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/app/CMakeLists.txt b/app/CMakeLists.txt
index e21efaf..6d77c9a 100644
--- a/app/CMakeLists.txt
+++ b/app/CMakeLists.txt
@@ -8,7 +8,8 @@ list(APPEND incs "drivers/data_port/usb-host")
 list(APPEND incs "drivers/data_port/ble_spp")
 list(APPEND incs "drivers/data_port/socket_inet")
 list(APPEND incs "drivers/sertrf")
-
+list(APPEND incs "drivers/sertrf/protocol")
+list(APPEND incs "drivers/sertrf/protocol/mavlinkv2")
 
 list(APPEND srcs "app_main.c")
 list(APPEND srcs "app_info.c")
@@ -30,6 +31,9 @@ list(APPEND srcs "utils/sb_aes.c")
 list(APPEND srcs "drivers/sertrf/sertrf.c")
 list(APPEND srcs "drivers/sertrf/device.c")
 list(APPEND srcs "drivers/sertrf/key.c")
+list(APPEND srcs "drivers/sertrf/protocol/MSP.c")
+list(APPEND srcs "drivers/sertrf/protocol/p_protocol.c")
+list(APPEND srcs "drivers/sertrf/protocol/mavlink_control.c")
 
 list(APPEND srcs "drivers/led_strip/led_strip.c")
 list(APPEND srcs "drivers/led_strip/led_strip_encoder.c")
diff --git a/app/drivers/sertrf/sertrf.c b/app/drivers/sertrf/sertrf.c
index 0b39a6b..d9a8ae3 100644
--- a/app/drivers/sertrf/sertrf.c
+++ b/app/drivers/sertrf/sertrf.c
@@ -10,6 +10,8 @@ void sertrf_init(void)
     {
         SYS_LOG_WRN("device init error");
     }
+    // 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
@@ -33,8 +35,11 @@ void embedded_thread(void* arg)
         uint32_t embedded_size = embedded_device_get_rx_length(&sertrf.device);
         if(embedded_size > 0)
         {
-            uint8_t data[embedded_size];
+            uint8_t data[embedded_size ];
+            // data[embedded_size] = '\0';
             embedded_device_read(&sertrf.device, data, embedded_size);
+
+            Protocol_buf_decode(data, embedded_size);
             // SYS_LOG_INF("data : %s", data);
             pc_device_write(&sertrf.device, data, embedded_size);
         }
diff --git a/app/drivers/sertrf/sertrf.h b/app/drivers/sertrf/sertrf.h
index 4a8228a..fa2e3c2 100644
--- a/app/drivers/sertrf/sertrf.h
+++ b/app/drivers/sertrf/sertrf.h
@@ -3,6 +3,8 @@
 #include "device.h"
 #include "../led_strip/led_strip.h"
 #include "key.h"
+#include "protocol/p_protocol.h"
+
 typedef struct 
 {
     device_t device;