当解析不出飞控数据时闪红灯

app/drivers/sertrf/device.h

@@ -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;
 

app/drivers/sertrf/protocol/MSP.c

@@ -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;
 }

app/drivers/sertrf/protocol/MSP.h

@@ -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
  * 

app/drivers/sertrf/protocol/mavlink_control.c

@@ -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;
 }

app/drivers/sertrf/protocol/mavlink_control.h

@@ -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

app/drivers/sertrf/protocol/p_protocol.c

@@ -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;
 }

app/drivers/sertrf/protocol/p_protocol.h

@@ -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

app/drivers/sertrf/sertrf.c

@@ -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;
     }

app/drivers/sertrf/sertrf.h

@@ -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
  *