添加BOOT键、飞控复位控制、串口校验位设置

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
+}

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);

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);
+}

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();
+void button_work_init();
+void boot_set(uint8_t value);

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;
 }

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