实现复位飞控进入isp模式，并擦除内存

app/drivers/sertrf/protocol/resend_protl.c

@@ -269,6 +269,17 @@ int resend_parse_data(resend_device_t *resend_device)
             break;
         case RESEND_CMD_OTA_END:
             break;
+        case RESEND_CMD_FC_ISP_GET_PARAM:
+            //针对ISP的应答
+            resend_device->status.ack_flag = 0;
+            break;
+        case RESEND_CMD_FC_ISP_START:
+            resend_device->handle_flag = RESEND_CMD_FC_ISP_GET_PARAM;
+            break;
+        case RESEND_CMD_FC_ISP_DATA:
+            break;
+        case RESEND_CMD_FC_ISP_END:
+            break;
         default:
             break;
     }

app/drivers/sertrf/protocol/resend_protl.h

@@ -37,7 +37,12 @@ typedef enum
     RESEND_CMD_OTA_GET_PARAM = 0x010,
     RESEND_CMD_OTA_START = 0x011,
     RESEND_CMD_OTA_DATA = 0x012,
-    RESEND_CMD_OTA_END = 0x013
+    RESEND_CMD_OTA_END = 0x013,
+
+    RESEND_CMD_FC_ISP_GET_PARAM = 0x020,
+    RESEND_CMD_FC_ISP_START = 0x021,
+    RESEND_CMD_FC_ISP_DATA = 0x022,
+    RESEND_CMD_FC_ISP_END = 0x023
 }resend_cmd_type_e;
 //  帧解析状态
 typedef enum

app/drivers/sertrf/sertrf.c

@@ -22,8 +22,12 @@ void sertrf_init(void)
     resend_init(&sertrf.resend_device, resend_send, resend_recv, resend_get_length,resend_user_parse);
     // stmisp协议初始化
     stmisp_init(&sertrf.stmisp_device,stmisp_send,stmisp_recv,stmisp_get_length);
+    
     //OAT信息获取
     get_partition_status(&sertrf.otau);
+
+    //获取飞控代码地址
+    sertrf.fc_address = parse_hex_or_dec(FC_ADDRESS);
     //线程启动
     sertrf_start();
 }
@@ -267,6 +271,12 @@ void printf_chill_time(uint8_t chill_time, uint16_t type)
     last_time[chill_time] = now_time;
 }
 
+uint32_t parse_hex_or_dec(const char *s) {
+    if (!s) return 0;
+    if (s[0] == '0' && (s[1]=='x' || s[1]=='X')) return (uint32_t)strtoul(s+2, NULL, 16);
+    return (uint32_t)strtoul(s, NULL, 0);
+}
+
 int resend_send(void* data, uint16_t len, int timeout)
 {
     return app_device_write(&sertrf.device, data, len);
@@ -320,7 +330,7 @@ void resend_user_parse(void *resend_device)
             break;
         case RESEND_CMD_OTA_START:
         {
-            
+            //设置协议状态，为了后续灯颜色变化
             protocol_set_message_status(MESSAGE_OTA);
             // if(!sertrf.resend_device.status.resend_flag)
             otau_init(&sertrf.otau);
@@ -329,7 +339,6 @@ void resend_user_parse(void *resend_device)
             break;
         case RESEND_CMD_OTA_DATA:
         {
-            
             memcpy(sertrf.otau.ota_buff + sertrf.otau.ota_data_cnt, sertrf.resend_device.rx_frame.payload, sertrf.resend_device.rx_frame.len);
 
             sertrf.otau.ota_data_cnt +=  sertrf.resend_device.rx_frame.len;
@@ -361,6 +370,47 @@ void resend_user_parse(void *resend_device)
 }
 
 
+void Examples_run(void)
+{
+    //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(1);
+    os_thread_sleep(1000);
+    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);
+    // 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");
+
+}
 int stmisp_send(void* data, uint16_t len, int timeout)
 {
     return embedded_device_write(&sertrf.device, data, len);
@@ -372,6 +422,8 @@ int stmisp_recv(void* data, uint16_t len, int timeout)
     while(os_get_sys_time() - time_start < timeout)
     {
         size = embedded_device_read(&sertrf.device, data, len, 0);
+        if(size > 0)
+            return size;
         os_thread_sleep(1);
     }
     return size;

app/drivers/sertrf/sertrf.h

@@ -9,6 +9,8 @@
 #include "ota_u.h"
 #include "../../config/app_config.h"
 
+#define FC_ADDRESS "0x08000000"
+
 typedef struct 
 {
     device_t device;
@@ -25,6 +27,7 @@ typedef struct
     //STMISP协议
     stmisp_device_t stmisp_device;
     
+    uint32_t fc_address;
 }sertrf_t;
 
 typedef struct 
@@ -82,4 +85,8 @@ void pc_link_rgb_color(device_t* device);
  * @brief 打印时间间隔
 */
 void printf_chill_time(uint8_t chill_time, uint16_t type);
+/**
+ * @brief 字符串转十进制
+ */
+uint32_t parse_hex_or_dec(const char *s);