实现APP进行飞控固件升级

app/drivers/sertrf/protocol/stmisp.c

@@ -71,7 +71,7 @@ int send_cmd_wait(stmisp_device_t *stmisp_device, uint8_t cmd, uint32_t timeout)
     switch(ack)
     {
         case 1:
-            printf("stmisp: ACK to cmd 0x%02x\n", cmd);
+            // printf("stmisp: ACK to cmd 0x%02x\n", cmd);
             return 1;
         case 2:
             printf("stmisp: NACK to cmd 0x%02x\n", cmd);
@@ -235,7 +235,7 @@ int cmd_write_memory(stmisp_device_t *stmisp_device, uint32_t addr, const uint8_
             stmisp_device->send((void *)&data[idx], chunk, 0);
             stmisp_device->send(&cs, 1, 0);
 
-            if(wait_ack(stmisp_device, 5000) != 1) return 0;
+            if(wait_ack(stmisp_device, 1000) != 1) return 0;
             //是否需要校验写入的数据块
             if (verify)
             {

app/drivers/sertrf/protocol/stmisp.h

@@ -38,6 +38,10 @@ typedef struct
     uint32_t adder_offset;          //地址偏移
 }stmisp_device_t;
 
+typedef struct 
+{
+    uint32_t stmisp_file_size;
+}stmisp_parm_t;
 /**
  * @brief 计算校验和
  */

app/drivers/sertrf/sertrf.c

@@ -162,6 +162,12 @@ void app_thread(void* arg)
                 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;
         }
@@ -271,6 +277,58 @@ void data_handle_thread(void* arg)
                 }
             }
                 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;
         }
@@ -434,20 +492,117 @@ void resend_user_parse(void *resend_device)
             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;
+            // 重启飞控，并使其进入isp烧录模式
+            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");
+            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
+    // // //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
+    // // // 重启飞控，并使其进入isp烧录模式
     fc_reboot();
-    boot_set(1);
+    boot_set(0);
-    os_thread_sleep(1000);
+    os_thread_sleep(500);
     uart_set_parity_switch(sertrf.device.embedded_device, 0x02);
-    os_thread_sleep(100);
+    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");
@@ -468,6 +623,8 @@ void Examples_run(void)
     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");

app/drivers/sertrf/sertrf.h

@@ -18,6 +18,8 @@ typedef enum
     DATA_HANDLE_IDLE = 0,
     DATA_HANDLE_OTA_DATA,
     DATA_HANDLE_OTA_DATA_END,
+    DATA_HANDLE_ISP_DATA,
+    DATA_HANDLE_ISP_DATA_END
 }data_handle_e;
 typedef struct 
 {