From b53898c6b5e73551cceb3b4a122c71a3d6595030 Mon Sep 17 00:00:00 2001
From: OPTOC <9159397+optoc@user.noreply.gitee.com>
Date: Tue, 28 Oct 2025 14:55:50 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=94=B9=E6=8C=89=E9=94=AE=EF=BC=8C?=
 =?UTF-8?q?=E5=B7=B2=E7=BB=8F=E6=B7=BB=E5=8A=A0msp=E9=87=8D=E5=90=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 app/drivers/sertrf/key.c                 | 24 +++++++++++++++++++++---
 app/drivers/sertrf/key.h                 |  8 +++++++-
 app/drivers/sertrf/protocol/MSP.c        | 10 +++++++++-
 app/drivers/sertrf/protocol/MSP.h        |  6 +++++-
 app/drivers/sertrf/protocol/p_protocol.c |  2 +-
 app/drivers/sertrf/sertrf.c              |  9 +++++----
 6 files changed, 48 insertions(+), 11 deletions(-)

diff --git a/app/drivers/sertrf/key.c b/app/drivers/sertrf/key.c
index 0914029..9d89c7e 100644
--- a/app/drivers/sertrf/key.c
+++ b/app/drivers/sertrf/key.c
@@ -3,8 +3,8 @@
 button_t btn;
 
 cfg_board_pin_io_t key_switch = {
-    .pin  = 9,
-    .en_lev = 0,};
+    .pin  = 18,
+    .en_lev = 1,};
 cfg_board_pin_io_t boot_switch = {
     .pin  = 18,
     .en_lev = 0,};
@@ -174,7 +174,7 @@ void button_work_init() {
 
     pin_cfg_input(&key_switch);
     // pin_cfg_output(&boot_switch);
-    gpio_to_high_z(&boot_switch);
+    // gpio_to_high_z(&boot_switch);
 
     button_init(&btn, read_button_pin, my_button_handler);
 
@@ -208,4 +208,22 @@ void key_test(void)
     os_thread_sleep(5000);
 
     boot_set_high_z();
+}
+
+void boot_set_2(uint8_t value)
+{
+    pin_cfg_output(&boot_switch);
+    pin_set_valid(&boot_switch, value);
+    os_work_suspend(&work_handler_button);
+}
+
+void boot_set_high_z_2(void)
+{
+    pin_cfg_input(&key_switch);
+    os_work_resume(&work_handler_button,10);
+}
+
+bool key_get_status(void)
+{
+    return pin_get_valid(&key_switch);
 }
\ No newline at end of file
diff --git a/app/drivers/sertrf/key.h b/app/drivers/sertrf/key.h
index 3a54391..710a23f 100644
--- a/app/drivers/sertrf/key.h
+++ b/app/drivers/sertrf/key.h
@@ -60,4 +60,10 @@ void boot_set(uint8_t value);
  */
 void boot_set_high_z(void);
 
-void key_test(void);
\ No newline at end of file
+void key_test(void);
+
+void boot_set_2(uint8_t value);
+
+void boot_set_high_z_2(void);
+
+bool key_get_status(void);
diff --git a/app/drivers/sertrf/protocol/MSP.c b/app/drivers/sertrf/protocol/MSP.c
index dd803dd..d5fca22 100644
--- a/app/drivers/sertrf/protocol/MSP.c
+++ b/app/drivers/sertrf/protocol/MSP.c
@@ -448,7 +448,15 @@ void fc_put_ack(void)
     // printf("ACK\n");
 }
 
-
+// MSP重启命令
+void msp_send_reboot(msp_port_t *msp)
+{
+    msp_send2(msp, MSP_REBOOT, NULL, 0);
+}
+void msp_request_type(msp_port_t *msp)
+{
+    msp_send2(msp, MSP_FC_VARIANT, NULL, 0);
+}
 // MSP数据读取,并根据读取的数据进行处理
 void msp_recv_loop(msp_port_t *msp)
 {
diff --git a/app/drivers/sertrf/protocol/MSP.h b/app/drivers/sertrf/protocol/MSP.h
index 81b0090..2fef451 100644
--- a/app/drivers/sertrf/protocol/MSP.h
+++ b/app/drivers/sertrf/protocol/MSP.h
@@ -17,6 +17,7 @@
 #define MSP_SONAR_ALTITUDE 58
 #define MSP_ARMING_CONFIG 61
 #define MSP_RX_MAP 64    // get channel map (also returns number of channels total)
+#define MSP_REBOOT 68   // 重启命令
 #define MSP_LOOP_TIME 73 // FC cycle time i.e looptime parameter
 #define MSP_STATUS 101
 #define MSP_RAW_IMU 102
@@ -366,7 +367,10 @@ void msp_handle_get_gcs(msp_gcs_t pkt);
 // 回复请求包处理
 void fc_put_ack(void);
 
-
+// 发送MSP重启命令
+void msp_send_reboot(msp_port_t *msp);
+// 请求飞控类型
+void msp_request_type(msp_port_t *msp);
 // 接口层
 int MSP_wirite(const void *data, uint32_t size, uint32_t wait_ms);
 int MSP_read(void *data, uint32_t size, uint32_t wait_ms);
diff --git a/app/drivers/sertrf/protocol/p_protocol.c b/app/drivers/sertrf/protocol/p_protocol.c
index 8957a6a..8a9996f 100644
--- a/app/drivers/sertrf/protocol/p_protocol.c
+++ b/app/drivers/sertrf/protocol/p_protocol.c
@@ -172,7 +172,7 @@ int fc_reboot(void)
             break;
         case PROTOCOL_MSP:
         {
-            
+            msp_send_reboot(&protocol.msp);
         }
             break;
         case PROTOCOL_MAVLINK:
diff --git a/app/drivers/sertrf/sertrf.c b/app/drivers/sertrf/sertrf.c
index d0702f3..523c304 100644
--- a/app/drivers/sertrf/sertrf.c
+++ b/app/drivers/sertrf/sertrf.c
@@ -522,9 +522,9 @@ void resend_user_parse(void *resend_device)
             // 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);
+            // if(sertrf.fc_protocol_status != PROTOCOL_STATUS_TYPE_IDLE && sertrf.fc_protocol_status != PROTOCOL_STATUS_NO_DATA)
+            fc_reboot();
+            boot_set_2(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);
@@ -556,7 +556,7 @@ void resend_user_parse(void *resend_device)
                 printf("stmisp: sync ok\n");
             os_thread_sleep(100);
             
-            boot_set_high_z();
+            boot_set_high_z_2();
             // 全盘擦除
             if(!cmd_extended_erase_mass(&sertrf.stmisp_device))
                 printf("stmisp: erase mass error\n");
@@ -604,6 +604,7 @@ void resend_user_parse(void *resend_device)
             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);
+            esp_restart();
             break;
 
         default: