From e7989c74448a8296051c071ffe983a3b97f0df55 Mon Sep 17 00:00:00 2001 From: OPTOC <9159397+optoc@user.noreply.gitee.com> Date: Tue, 14 Oct 2025 10:17:40 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0BOOT=E9=94=AE=E3=80=81?= =?UTF-8?q?=E9=A3=9E=E6=8E=A7=E5=A4=8D=E4=BD=8D=E6=8E=A7=E5=88=B6=E3=80=81?= =?UTF-8?q?=E4=B8=B2=E5=8F=A3=E6=A0=A1=E9=AA=8C=E4=BD=8D=E8=AE=BE=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- app/drivers/data_port/uart/uart_port.c | 15 ++++++++ app/drivers/data_port/uart/uart_port.h | 3 ++ app/drivers/sertrf/key.c | 13 +++++++ app/drivers/sertrf/key.h | 5 ++- app/drivers/sertrf/protocol/p_protocol.c | 44 ++++++++++++++++++++++++ app/drivers/sertrf/protocol/p_protocol.h | 9 ++++- 6 files changed, 87 insertions(+), 2 deletions(-) diff --git a/app/drivers/data_port/uart/uart_port.c b/app/drivers/data_port/uart/uart_port.c index cd08eaf..eb4218e 100755 --- a/app/drivers/data_port/uart/uart_port.c +++ b/app/drivers/data_port/uart/uart_port.c @@ -494,3 +494,18 @@ void sb_uart_port_unbind(sb_data_port_t *port) port->data = NULL; } } + +void uart_set_parity_switch(sb_data_port_t *port, uint8_t parity) +{ + __uart_data_t *uart_data = port->data; + + uart_wait_tx_done(uart_data->uart_num, pdMS_TO_TICKS(100)); // 等待已发完 + uart_flush_input(uart_data->uart_num); // 清空接收FIFO，避免半帧造成校验错 + + //清除缓存数据 + os_pipe_clr(&uart_data->rx_pipe); + int size = _uart_port_get_rx_length(port); + printf("size: %d\n", size); + + uart_set_parity(uart_data->uart_num, parity); // 切换为偶校验 +} \ No newline at end of file diff --git a/app/drivers/data_port/uart/uart_port.h b/app/drivers/data_port/uart/uart_port.h index 2b9d2be..6f14bee 100755 --- a/app/drivers/data_port/uart/uart_port.h +++ b/app/drivers/data_port/uart/uart_port.h @@ -26,3 +26,6 @@ sb_data_port_t *sb_uart_port_bind(int uartNum, os_work_t *rx_resume_work); void sb_uart_port_unbind(sb_data_port_t *port); + +//切换校验方式 +void uart_set_parity_switch(sb_data_port_t *port, uint8_t parity); diff --git a/app/drivers/sertrf/key.c b/app/drivers/sertrf/key.c index 747b2bd..0f29faa 100644 --- a/app/drivers/sertrf/key.c +++ b/app/drivers/sertrf/key.c @@ -5,6 +5,9 @@ button_t btn; cfg_board_pin_io_t key_switch = { .pin = 9, .en_lev = 0,}; +cfg_board_pin_io_t boot_switch = { + .pin = ~0, + .en_lev = 0,}; // 新增事件类型 // EVT_DOUBLE_CLICK: 双击 // EVT_SINGLE_LONG_PRESS: 单击后长按 @@ -34,6 +37,7 @@ static void my_button_handler(button_event_t evt) { break; case EVT_LONG_PRESS: //长按 SYS_LOG_INF("[Event] LONG_PRESS"); + Examples_run(); rgb_Indicator_light_off(0); break; case EVT_SINGLE_LONG_PRESS: //单击后长按 @@ -163,9 +167,18 @@ void _work_button(void *arg) { } void button_work_init() { + + pin_cfg_input(&key_switch); + pin_cfg_output(&boot_switch); + button_init(&btn, read_button_pin, my_button_handler); static os_work_t work_handler_button; os_work_create(&work_handler_button, "work-button", _work_button, NULL, OS_PRIORITY_NORMAL); os_work_submit(default_os_work_q_hdl, &work_handler_button, 10); } + +void boot_set(uint8_t value) +{ + pin_set_valid(&boot_switch, value); +} diff --git a/app/drivers/sertrf/key.h b/app/drivers/sertrf/key.h index 5aee184..9539658 100644 --- a/app/drivers/sertrf/key.h +++ b/app/drivers/sertrf/key.h @@ -11,6 +11,8 @@ #include "os/os.h" #include "device.h" #include "../led_strip/led_strip.h" +#include "protocol/stmisp.h" + // 按键事件类型 typedef enum { EVT_NONE = 0, // 无事件 @@ -45,4 +47,5 @@ typedef struct { extern bool key_single_click,key_press_down,key_press_up; void _work_button(void *arg); -void button_work_init(); \ No newline at end of file +void button_work_init(); +void boot_set(uint8_t value); \ No newline at end of file diff --git a/app/drivers/sertrf/protocol/p_protocol.c b/app/drivers/sertrf/protocol/p_protocol.c index ac54aed..23df10b 100644 --- a/app/drivers/sertrf/protocol/p_protocol.c +++ b/app/drivers/sertrf/protocol/p_protocol.c @@ -34,6 +34,7 @@ int Protocol_write(const void *data, uint32_t size, uint32_t wait_ms) void Protocol_init(port_type_m port_type, void* port) { protocol.port.data_port = port; + protocol.port_type = port_type; switch (port_type) { case PORT_LINUX_UART: @@ -105,6 +106,7 @@ int Protocol_buf_search(void* data, uint32_t size) mavlink_message_t message; if(mavlink_message(&protocol.mavlink_device, &message,c)){ mavlik_packet_processing(&protocol.mavlink_device, &message); + memcpy(&protocol.message,&message,sizeof(mavlink_message_t)); return PROTOCOL_MAVLINK; } // MSP 解析 @@ -157,4 +159,46 @@ protocol_status_t get_protocol_status(void) protocol.analysis_sussess_count = 0; return protocol.protocol_status; +} + +int fc_reboot(void) +{ + switch(protocol.pro_type) + { + case PROTOCOL_IDLE: + printf("The protocol cannot be restarted as it has not been recognized\n"); + break; + case PROTOCOL_MSP: + { + + } + break; + case PROTOCOL_MAVLINK: + { + mavlink_message_t msg; + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; + mavlink_msg_command_long_pack( + 255, 0, &msg, + /* target_system */ protocol.message.sysid, + /* target_component */ protocol.message.compid, + /* command */ MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, + /* confirmation */ 0, + /* param1 */ 1, // 1 = reboot + /* param2 */ 1, + /* param3 */ 0, + /* param4 */ 0, + /* param5 */ 0, + /* param6 */ 0, + /* param7 */ 0 + ); + + // 打包成字节流发送 + uint16_t len = mavlink_msg_to_send_buffer(buf, &msg); + + int size = Protocol_write(buf, len, 0); + printf("reboot sys:%d com:%d size:%d\n", protocol.message.sysid, protocol.message.compid,size); + } + break; + } + return 1; } \ No newline at end of file diff --git a/app/drivers/sertrf/protocol/p_protocol.h b/app/drivers/sertrf/protocol/p_protocol.h index e13f8be..79d36d7 100644 --- a/app/drivers/sertrf/protocol/p_protocol.h +++ b/app/drivers/sertrf/protocol/p_protocol.h @@ -48,7 +48,9 @@ typedef struct protocol_status_t protocol_status; uint16_t analysis_sussess_count; //数据解析成功次数 - message_status_m message_status; + message_status_m message_status; + + mavlink_message_t message; }protocol_t; /** @@ -96,4 +98,9 @@ void protocol_set_message_status(message_status_m status); */ protocol_status_t get_protocol_status(void); +/** + * @brief 飞控重启命令 + * + */ +int fc_reboot(void); #endif \ No newline at end of file