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当解析不出飞控数据时闪红灯

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OPTOC
2025-09-04 16:01:12 +08:00
parent 2e5b3416a6
commit bd9ffa3de2
9 changed files with 112 additions and 22 deletions
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2
app/drivers/sertrf/device.h
View File

@@ -76,7 +76,7 @@ typedef struct
uint8_t connect_pc;
// int (*embedded_read)(device_t *port, void *buffer, uint32_t length);
// int (*embedded_write)(device_t *port, const void *data, uint32_t size);
uint8_t last_color;
}device_t;

8
app/drivers/sertrf/protocol/MSP.c
View File

@@ -466,21 +466,23 @@ void msp_recv_loop(msp_port_t *msp)
}
}
}
void msp_recv_buf(msp_port_t *msp, void *data, uint32_t size)
int msp_recv_buf(msp_port_t *msp, void *data, uint32_t size)
{
uint8_t res = 0;
uint32_t size_lat = size;
uint8_t* data_char = (uint8_t*)data;
while (size_lat --)
{
uint8_t c = data_char[size - size_lat - 1];
uint8_t c = data_char[size - size_lat - 1];
if (msp_parse_received_data(msp, c))
{
if (msp->c_state == MSP_COMMAND_RECEIVED)
{
msp_process_received_command(msp);
// break;
res ++;
}
}
}
return res;
}

3
app/drivers/sertrf/protocol/MSP.h
View File

@@ -318,8 +318,9 @@ void msp_recv_loop(msp_port_t *msp);
* @param msp 接口
* @param data 接收数据
* @param size 接收数据长度
* @retval 解析成功次数
*/
void msp_recv_buf(msp_port_t *msp,void *data, uint32_t size);
int msp_recv_buf(msp_port_t *msp,void *data, uint32_t size);
/**
* @brief MSP数据包解析
*

10
app/drivers/sertrf/protocol/mavlink_control.c
View File

@@ -179,10 +179,11 @@ void mavlink_recv_loop(mavlink_device_t* mavlink_device)
}
}
void mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t size)
int mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t size)
{
uint8_t res = 0;
bool success = false;
mavlink_message_t message;
uint32_t size_lat = size;
@@ -196,8 +197,9 @@ void mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t siz
if(success){
// printf("Received message from serial with ID #%d (sys:%d|comp:%d):\n", message.msgid, message.sysid, message.compid);
mavlik_packet_processing(mavlink_device,&message);
// break;
success = false;
res++;
}
}
return res;
}

3
app/drivers/sertrf/protocol/mavlink_control.h
View File

@@ -101,7 +101,8 @@ void mavlink_recv_loop(mavlink_device_t* mavlink_device);
* @param mavlink_device 接口
* @param data 数据
* @param size 大小
* @retval 解析成功次数
*/
void mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t size);
int mavlink_recv_buf(mavlink_device_t* mavlink_device, void *data, uint32_t size);
#endif

21
app/drivers/sertrf/protocol/p_protocol.c
View File

@@ -128,10 +128,27 @@ void Protocol_buf_decode(void* data, uint32_t size)
protocol.pro_type = Protocol_buf_search(data, size);
break;
case PROTOCOL_MSP:
msp_recv_buf(&protocol.msp, data, size);
protocol.analysis_sussess_count += msp_recv_buf(&protocol.msp, data, size);
break;
case PROTOCOL_MAVLINK:
mavlink_recv_buf(&protocol.mavlink_device, data, size);
protocol.analysis_sussess_count += mavlink_recv_buf(&protocol.mavlink_device, data, size);
break;
}
}
protocol_status_t get_protocol_status(void)
{
protocol.protocol_status = PROTOCOL_STATUS_OK;
if(protocol.pro_type == PROTOCOL_IDLE)
{
protocol.protocol_status = PROTOCOL_STATUS_TYPE_IDLE;
} else if(protocol.analysis_sussess_count == 0)
{
protocol.protocol_status = PROTOCOL_STATUS_NO_DATA;
}
protocol.analysis_sussess_count = 0;
return protocol.protocol_status;
}

15
app/drivers/sertrf/protocol/p_protocol.h
View File

@@ -23,6 +23,13 @@ typedef enum
PORT_LINUX_UART = 0,
PORT_LINUX_SBDATA,
}port_type_m;
typedef enum
{
PROTOCOL_STATUS_OK = 0,
PROTOCOL_STATUS_NO_DATA, //没有收到数据，或者数据小于一定量
PROTOCOL_STATUS_TYPE_IDLE, //协议类型未知
PROTOCOL_STATUS_ANALYSIS_ERROR, //长时间解析失败
}protocol_status_t;
typedef struct
{
protocol_port_t port;
@@ -32,6 +39,8 @@ typedef struct
mavlink_device_t mavlink_device;
msp_port_t msp;
protocol_status_t protocol_status;
uint16_t analysis_sussess_count; //数据解析成功次数
}protocol_t;
/**
@@ -66,4 +75,10 @@ int Protocol_buf_search(void* data, uint32_t size);
* @param size 数据长度
*/
void Protocol_buf_decode(void* data, uint32_t size);
/**
* @brief 获取协议状态
*
* @retval 协议状态
*/
protocol_status_t get_protocol_status(void);
#endif

66
app/drivers/sertrf/sertrf.c
View File

@@ -27,6 +27,12 @@ void sertrf_start(void)
NULL,
4096,
20);
os_thread_create(&sertrf.task_thread,
"task_thread",
task_thread,
NULL,
2048,
10);
}
void embedded_thread(void* arg)
{
@@ -54,15 +60,52 @@ void embedded_thread(void* arg)
embedded_device_write(&sertrf.device, data, pc_size);
}
// printf_chill_time(10,1000);
pc_link_rgb_color(&sertrf.device);
//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 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)
{
size_t end_time = 0;
if(start_time - end_time > 1000)
{
switch(get_protocol_status())
{
case PROTOCOL_STATUS_OK:
rgb_color_change(0, sertrf.device.last_color);
break;
case PROTOCOL_STATUS_NO_DATA:
rgb_color_change(0, RGB_COLOR_RAD);
break;
case PROTOCOL_STATUS_TYPE_IDLE:
rgb_color_change(0, RGB_COLOR_RAD);
break;
case PROTOCOL_STATUS_ANALYSIS_ERROR:
rgb_color_change(0, RGB_COLOR_RAD);
break;
default:
break;
}
end_time = os_get_sys_time();
}
}
os_thread_sleep(100);
}
}
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)
@@ -70,34 +113,39 @@ void pc_link_rgb_color(device_t* device)
case DISCONNECT:
{
if(device->init_device.wifi_mode == WIFI_NETIF_MODE_AP)
rgb_color_change(0, RGB_COLOR_GREEN_WHITE);
new_color = RGB_COLOR_GREEN_WHITE;
else
rgb_color_change(0, RGB_COLOR_GREEN_PURPLE);
new_color = RGB_COLOR_GREEN_PURPLE;
break;
}
case CONNECT_WIFI_TCP:
{
if(device->init_device.wifi_mode == WIFI_NETIF_MODE_AP)
rgb_color_change(0, RGB_COLOR_WHITE);
new_color = RGB_COLOR_WHITE;
else
rgb_color_change(0, RGB_COLOR_PURPLE);
new_color = RGB_COLOR_PURPLE;
break;
}
case CONNECT_WIFI_UDP:
{
if(device->init_device.wifi_mode == WIFI_NETIF_MODE_AP)
rgb_color_change(0, RGB_COLOR_WHITE);
new_color = RGB_COLOR_WHITE;
else
rgb_color_change(0, RGB_COLOR_PURPLE);
new_color = RGB_COLOR_PURPLE;
break;
}
case CONNECT_BLE:
rgb_color_change(0, RGB_COLOR_GREEN);
new_color = RGB_COLOR_GREEN;
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;
}

6
app/drivers/sertrf/sertrf.h
View File

@@ -9,7 +9,7 @@ typedef struct
{
device_t device;
os_thread_t embedded_thread;
os_thread_t task_thread;
}sertrf_t;
/**
@@ -36,6 +36,10 @@ void sertrf_status(void);
* @brief embedded thread
*/
void embedded_thread(void* arg);
/**
* @brief task thread
*/
void task_thread(void* arg);
/**
* @brief 根据连接状态显示不同的颜色
*