添加BOOT键、飞控复位控制、串口校验位设置

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;
 }