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添加与app对接协议

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OPTOC
2025-09-09 18:16:48 +08:00
parent fb05542e80
commit f081dc891c
8 changed files with 523 additions and 7 deletions
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2
app/CMakeLists.txt
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@@ -35,7 +35,7 @@ list(APPEND srcs "drivers/sertrf/ota_u.c")
list(APPEND srcs "drivers/sertrf/protocol/MSP.c")
list(APPEND srcs "drivers/sertrf/protocol/p_protocol.c")
list(APPEND srcs "drivers/sertrf/protocol/mavlink_control.c")
list(APPEND srcs "drivers/sertrf/protocol/resend_protl.c")
list(APPEND srcs "drivers/led_strip/led_strip.c")
list(APPEND srcs "drivers/led_strip/led_strip_encoder.c")

4
app/drivers/sertrf/device.c
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@@ -302,9 +302,9 @@ uint8_t embedded_device_choice(device_t *port, uint8_t type)
return DEVICE_OK;
}
int embedded_device_read(device_t *port, void *buffer, uint32_t length)
int embedded_device_read(device_t *port, void *buffer, uint32_t length, uint32_t timeout)
{
return sb_data_port_read(port->embedded_device, buffer, length, 0);
return sb_data_port_read(port->embedded_device, buffer, length, timeout);
}
int embedded_device_write(device_t *port, void *buffer, uint32_t length)

3
app/drivers/sertrf/device.h
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@@ -134,10 +134,11 @@ uint8_t pc_device_choice(device_t *port, uint8_t type);
* @param port 由对应的驱动提供的绑定接口获得的句柄
* @param buffer 读取数据缓存
* @param length 读取数据长度
* @param timeout 超时时间
* @retval < 0 操作失败或在指定的时间内未满足指定的操作长度
* @retval >= 0 实际已缓存的长度
*/
int embedded_device_read(device_t *port, void *buffer, uint32_t length);
int embedded_device_read(device_t *port, void *buffer, uint32_t length, uint32_t timeout);
/**
* @brief 嵌入式设备数据接口写操作
*

67
app/drivers/sertrf/protocol/resend_crc.h Normal file
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@@ -0,0 +1,67 @@
#pragma once
/**************************mavlink的CRC****************************/
#define MCRF4XX_INIT_CRC 0xffff
static const uint16_t fmav_crc_table_MCRF4XX[256] = {
0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
};
static inline void fmav_crc_init(uint16_t* crc)
{
*crc = MCRF4XX_INIT_CRC;
}
static inline void fmav_crc_accumulate(uint16_t* crc, uint8_t data)
{
// one often finds crc = (crc << 8) ^ table[(crc >> 8) ^ data], but we need it differently here
//*crc = (*crc >> 8) ^ fmav_crc_table_MCRF4XX[(*crc ^ data) & 0xff];
*crc = (*crc >> 8) ^ fmav_crc_table_MCRF4XX[(uint8_t)(*crc & 0xff) ^ data];
}
static inline void fmav_crc_accumulate_buf(uint16_t* crc, const uint8_t* buf, uint16_t len)
{
while (len--) {
*crc = (*crc >> 8) ^ fmav_crc_table_MCRF4XX[(uint8_t)(*crc & 0xff) ^ *buf++];
}
}
static inline uint16_t fmav_crc_calculate(const uint8_t* buf, uint16_t len)
{
uint16_t crc;
fmav_crc_init(&crc);
while (len--) {
fmav_crc_accumulate(&crc, *buf++);
}
return crc;
}

262
app/drivers/sertrf/protocol/resend_protl.c Normal file
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@@ -0,0 +1,262 @@
#include "resend_protl.h"
void resend_init(resend_device_t *resend_device, int (*send)(void* data, uint16_t len, int timeout), int (*recv)(void* data, uint16_t len, int timeout), int (*get_length )(void), void (*resend_user_parse)(void *resend_device))
{
resend_device->send = send;
resend_device->recv = recv;
resend_device->get_length = get_length;
resend_device->resend_user_parse = resend_user_parse;
resend_device->status.c_state = RESEND_IDLE;
resend_device->tx_frame.header_0 = RESEND_HEADER_0;
resend_device->tx_frame.header_1 = RESEND_HEADER_1;
resend_device->tx_frame.seq = 0;
resend_device->tx_frame.cmd = 0;
resend_device->tx_frame.retry_cnt = 0;
resend_device->tx_frame.len = 0;
resend_device->tx_frame.crc = 0;
}
void resend_set(resend_device_t *resend_device)
{
resend_device->tx_frame.seq = resend_device->rx_frame.seq;
}
int resend_encode(resend_device_t *resend_device, void *out, uint8_t cmd, void* data, uint16_t len)
{
if(!out ) return -1;
uint8_t* c = (uint8_t*)out;
// header
c[0] = resend_device->tx_frame.header_0;
c[1] = resend_device->tx_frame.header_1;
// seq
if(cmd != RESEND_CMD_DATA && cmd != RESEND_CMD_ACK && resend_device->tx_frame.retry_cnt == 0)
resend_device->tx_frame.seq++;
c[2] = resend_device->tx_frame.seq;
// cmd
c[3] = resend_device->tx_frame.cmd = cmd;
// retry_cnt
c[4] = resend_device->tx_frame.retry_cnt;
// len big endian
c[5] = (uint8_t)((len >> 8) & 0xFF);
c[6] = (uint8_t)(len & 0xFF);
// payload
if (len > 0 && data) memcpy(&c[7], data, len);
// compute crc over seq..payload (i.e. bytes p+1 .. p+5+len)
uint16_t crc = fmav_crc_calculate(&c[2], 5 + len);
c[7 + len] = (uint8_t)((crc >> 8) & 0xFF);
c[7 + len + 1] = (uint8_t)(crc & 0xFF);
return (int)(len + RESEND_MAX_PAYLOAD);
}
int resend_decode(resend_device_t *resend_device, uint8_t c)
{
static uint16_t frame_crc = 0;
switch(resend_device->status.c_state)
{
case RESEND_IDLE:
if (c == RESEND_HEADER_0) {
resend_device->status.c_state = RESEND_HDR;
}
else{
resend_device->status.c_state = RESEND_IDLE;
}
break;
case RESEND_HDR:
if (c == RESEND_HEADER_1) {
resend_device->status.c_state = RESEND_SEQ;
fmav_crc_init(&frame_crc);
}else{
resend_device->status.c_state = RESEND_IDLE;
}
break;
case RESEND_SEQ:
resend_device->rx_frame.seq = c;
fmav_crc_accumulate(&frame_crc, c);
resend_device->status.c_state = RESEND_CMD;
break;
case RESEND_CMD:
resend_device->rx_frame.cmd = c;
fmav_crc_accumulate(&frame_crc, c);
resend_device->status.c_state = RESEND_RETRY_CNT;
break;
case RESEND_RETRY_CNT:
printf("cnt %d\r\n",c);
resend_device->rx_frame.retry_cnt = c;
fmav_crc_accumulate(&frame_crc, c);
resend_device->status.c_state = RESEND_LEN_1;
break;
case RESEND_LEN_1:
resend_device->rx_frame.len = 0;
resend_device->rx_frame.len = (uint16_t)(c << 8) & 0xF0;
fmav_crc_accumulate(&frame_crc, c);
resend_device->status.c_state = RESEND_LEN_2;
break;
case RESEND_LEN_2:
resend_device->rx_frame.len |= c;
fmav_crc_accumulate(&frame_crc, c);
if(resend_device->rx_frame.len > 0)
{
resend_device->status.data_offset = 0;
resend_device->status.c_state = RESEND_DATA;
}
else
resend_device->status.c_state = RESEND_CRC_1;
break;
case RESEND_DATA:
resend_device->rx_frame.payload[resend_device->status.data_offset ++] = c;
fmav_crc_accumulate(&frame_crc, c);
if(resend_device->rx_frame.len == resend_device->status.data_offset){
resend_device->status.data_offset = 0;
resend_device->status.c_state = RESEND_CRC_1;
}
break;
case RESEND_CRC_1:
if((uint8_t)(frame_crc >> 8 & 0xFF) == c){
resend_device->status.c_state = RESEND_CRC_2;
}else{
resend_device->status.c_state = RESEND_IDLE;
}
break;
case RESEND_CRC_2:
if((uint8_t)(frame_crc) == c){
resend_device->status.c_state = RESEND_IDLE;
resend_device->rx_frame.crc = frame_crc;
if(resend_device->rx_frame.cmd != RESEND_CMD_DATA && resend_device->rx_frame.cmd != RESEND_CMD_ACK && resend_device->rx_frame.retry_cnt == 0)
resend_device->tx_frame.seq++;
return 0;
}else{
resend_device->status.c_state = RESEND_IDLE;
}
break;
default:
break;
}
return 1;
}
int resend_recv_data(resend_device_t *resend_device, int timeout)
{
uint8_t data[RESEND_FRAME_SIZE];
int ret = resend_device->recv(data, RESEND_FRAME_SIZE, timeout);
if(ret <= 0)
return -1;
int ret_later = ret;
static uint8_t seq_lat = 0;
while(ret_later --)
{
if(!resend_decode(resend_device, data[ret - ret_later - 1]))
{
printf("tx_req %d rx_req %d retry_cnt %d cmd %d\r\n", resend_device->tx_frame.seq, resend_device->rx_frame.seq, resend_device->rx_frame.retry_cnt, resend_device->rx_frame.cmd);
if(seq_lat == resend_device->rx_frame.seq){
resend_device->status.resend_flag = 1;
} else {
resend_device->status.resend_flag = 0;
}
resend_device->resend_user_parse(resend_device);
resend_parse_data(resend_device);
seq_lat = resend_device->rx_frame.seq;
}
}
return ret;
}
int resend_send_cmd(resend_device_t *resend_device, uint8_t cmd, int timeout)
{
uint8_t out[RESEND_MAX_PAYLOAD];
int ret = resend_encode(resend_device, out, cmd, NULL, 0);
if (ret <= 0)
return -1;
return resend_device->send(out, ret, timeout);
}
int resend_send_data(resend_device_t *resend_device, uint8_t cmd, void* data, uint16_t len, int timeout)
{
uint8_t out[RESEND_MAX_PAYLOAD + len];
memcpy(resend_device->tx_frame.payload, data, len);
resend_device->tx_frame.retry_cnt = 0;
int ret = resend_encode(resend_device, out, cmd, data, len);
if (ret <= 0)
return -1;
// 初始化ack应答标志位，需等待应答
resend_device->status.ack_flag = 1;
while(resend_device->status.ack_flag)
{
if(resend_device->tx_frame.retry_cnt)
{
//进行重发 ， 重新编码
ret = resend_encode(resend_device, out, cmd, data, len);
if (ret <= 0)
return -1;
printf("data retry cnt %d\n", resend_device->tx_frame.retry_cnt);
}
ret = resend_device->send(out, ret, 0);
if(ret < RESEND_MAX_PAYLOAD)
return ret;
// 特殊命令以及应答信号不需要等待
if(cmd == RESEND_CMD_DATA || cmd == RESEND_CMD_ACK)
resend_device->status.ack_flag = 0;
resend_device->tx_frame.retry_cnt ++;
// 接收数据
resend_recv_data(resend_device, timeout);
// 超过允许的等待次数
if(resend_device->tx_frame.retry_cnt > RESEND_MAX_RETRY_CNT)
{
printf("timeout cnt max\n");
resend_device->tx_frame.retry_cnt = 0;
resend_device->status.ack_flag = 0;
return -1;
}
}
return ret;
// return resend_device->send(out, resend_frame_encode(resend_device, out, data, len), timeout);
}
int resend_parse_data(resend_device_t *resend_device)
{
switch(resend_device->rx_frame.cmd){
case RESEND_CMD_DATA:
for (size_t i = 0; i < resend_device->rx_frame.len; i++)
{
printf("%02X ", resend_device->rx_frame.payload[i]);
}
printf("\r\n");
break;
case RESEND_CMD_ACK:
printf("ACK\n");
resend_device->status.ack_flag = 0;
break;
case RESEND_CMD_STATUS:
resend_set(resend_device);
resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
break;
case RESEND_CMD_DATA_ACK:
for (size_t i = 0; i < resend_device->rx_frame.len; i++)
{
printf("%02X ", resend_device->rx_frame.payload[i]);
}
printf("\r\n");
resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
break;
case RESEND_CMD_OTA_START:
break;
case RESEND_CMD_OTA_DATA:
break;
case RESEND_CMD_OTA_END:
break;
default:
break;
}
return 0;
}

126
app/drivers/sertrf/protocol/resend_protl.h Normal file
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@@ -0,0 +1,126 @@
#pragma once
#include <stdio.h>
#include <stdint.h>
#include <string.h>
#include "resend_crc.h"
// 帧数据量
#define RESEND_HEADER_SIZE 2
#define RESEND_CMD_SIZE 1
#define RESEND_SEQ_SIZE 1
#define RESEND_RETRY_CNT_SIZE 1
#define RESEND_LEN_SIZE 2
#define RESEND_DATA_SIZE 1024
#define RESEND_CRC_SIZE 2
#define RESEND_MAX_PAYLOAD (RESEND_HEADER_SIZE + RESEND_CMD_SIZE + RESEND_SEQ_SIZE + RESEND_RETRY_CNT_SIZE + RESEND_LEN_SIZE + RESEND_CRC_SIZE)
#define RESEND_FRAME_SIZE RESEND_HEADER_SIZE + RESEND_CMD_SIZE + RESEND_SEQ_SIZE + RESEND_RETRY_CNT_SIZE + RESEND_LEN_SIZE + RESEND_DATA_SIZE + RESEND_CRC_SIZE
// 帧头
#define RESEND_HEADER_0 0xFD
#define RESEND_HEADER_1 0xFE
#define RESEND_MAX_RETRY_CNT 5
// 命令类型
typedef enum
{
RESEND_CMD_DATA = 0x01,
RESEND_CMD_ACK = 0x02,
RESEND_CMD_STATUS = 0x03,
RESEND_CMD_DATA_ACK = 0x04,
RESEND_CMD_OTA_START = 0x011,
RESEND_CMD_OTA_DATA = 0x012,
RESEND_CMD_OTA_END = 0x013
}resend_cmd_type_e;
// 帧解析状态
typedef enum
{
RESEND_IDLE = 0,
RESEND_HDR,
RESEND_SEQ,
RESEND_CMD,
RESEND_RETRY_CNT,
RESEND_LEN_1,
RESEND_LEN_2,
RESEND_DATA,
RESEND_CRC_1,
RESEND_CRC_2
}resend_c_state_e;
// 帧状态
typedef struct
{
resend_c_state_e c_state; //目前解析数据状态
uint8_t resend_flag; //该数据是否是重发数据
uint8_t ack_flag; //应答信号标志位
uint16_t data_offset; //数据偏移
}resend_status_t;
// 帧
typedef struct
{
uint8_t header_0; // 帧头
uint8_t header_1; // 帧头
uint8_t seq; // 帧序号
uint8_t cmd; // 命令
uint8_t retry_cnt; // 重发次数
uint16_t len; // 帧长度
uint8_t payload[RESEND_DATA_SIZE]; // 帧数据
uint16_t crc; // 帧CRC
}resend_frame_t;
// 帧驱动
typedef struct
{
resend_frame_t rx_frame; // 接收帧
resend_frame_t tx_frame; // 发送帧
resend_status_t status; // 帧状态
int (*send)(void* data, uint16_t len, int timeout); // 发送数据
int (*recv)(void* data, uint16_t len, int timeout); // 接收数据
int (*get_length )(void); // 获取数据长度
void (*resend_user_parse)(void *resend_device);
}resend_device_t;
/**
* @brief 协议初始化
*/
void resend_init(resend_device_t *resend_device, int (*send)(void* data, uint16_t len, int timeout), int (*recv)(void* data, uint16_t len, int timeout), int (*get_length )(void), void (*resend_user_parse)(void *resend_device));
/**
* @brief 设置参数
*/
void resend_set(resend_device_t *resend_device);
/**
* @brief 封包
*/
int resend_encode(resend_device_t *resend_device, void *out, uint8_t cmd, void* data, uint16_t len);
/**
* @brief 解包
*/
int resend_decode(resend_device_t *resend_device, uint8_t c);
/**
* @brief 发送无数据命令
*/
int resend_send_cmd(resend_device_t *resend_device, uint8_t cmd, int timeout);
/**
* @brief 数据发送
*/
int resend_send_data(resend_device_t *resend_device, uint8_t cmd, void* data, uint16_t len, int timeout);
/**
* @brief 数据接收
*/
int resend_recv_data(resend_device_t *resend_device, int timeout);
/**
* @brief 数据解析
*/
int resend_parse_data(resend_device_t *resend_device);
/* 接口函数 */
int resend_send(void* data, uint16_t len, int timeout);
int resend_recv(void* data, uint16_t len, int timeout);
int resend_get_length(void);
void resend_user_parse(void *resend_device);

60
app/drivers/sertrf/sertrf.c
View File

@@ -2,6 +2,7 @@
sertrf_t sertrf;
void sertrf_init(void)
{
uint8_t res = 0;
@@ -16,6 +17,9 @@ void sertrf_init(void)
work_rgb_led_start();
//按键初始化
button_work_init();
// 协议初始化
sertrf.resend_read_mutex = xSemaphoreCreateMutex();
resend_init(&sertrf.resend_device, resend_send, resend_recv, resend_get_length,resend_user_parse);
//线程启动
sertrf_start();
}
@@ -50,7 +54,7 @@ void embedded_thread(void* arg)
{
uint8_t data[embedded_size ];
// data[embedded_size] = '\0';
embedded_device_read(&sertrf.device, data, embedded_size);
embedded_device_read(&sertrf.device, data, embedded_size,0);
Protocol_buf_decode(data, embedded_size);
// SYS_LOG_INF("data : %s", data);
@@ -199,4 +203,58 @@ void printf_chill_time(uint8_t chill_time, uint16_t type)
type_cnt_time[chill_time] = 0;
}
last_time[chill_time] = now_time;
}
int resend_send(void* data, uint16_t len, int timeout)
{
return embedded_device_write(&sertrf.device, data, len);
}
int resend_recv(void* data, uint16_t len, int timeout)
{
int ret = 0;
if (xSemaphoreTake(sertrf.resend_read_mutex, portMAX_DELAY) == pdTRUE)
{
ret = embedded_device_read(&sertrf.device, data, len,timeout);
xSemaphoreGive(sertrf.resend_read_mutex);
}
return ret;
}
int resend_get_length(void)
{
return embedded_device_get_rx_length(&sertrf.device);
}
void resend_user_parse(void *resend_device)
{
resend_device_t* resend_parse = (resend_device_t*)resend_device;
switch(resend_parse->rx_frame.cmd)
{
case RESEND_CMD_OTA_START:
{
if(!sertrf.resend_device.status.resend_flag)
otau_init(&sertrf.otau);
resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
}
break;
case RESEND_CMD_OTA_DATA:
{
if(!sertrf.resend_device.status.resend_flag)
{
SYS_LOG_DBG("KUYI_CMD_OTA_DATA");
otau_write(&sertrf.otau, sertrf.resend_device.rx_frame.payload, sertrf.resend_device.rx_frame.len);
}
resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
}
break;
case RESEND_CMD_OTA_END:
{
if(!sertrf.resend_device.status.resend_flag)
otau_end(&sertrf.otau);
resend_send_cmd(resend_device, RESEND_CMD_ACK, 0);
os_thread_sleep(2);
esp_restart();
}
break;
}
}

6
app/drivers/sertrf/sertrf.h
View File

@@ -4,7 +4,7 @@
#include "../led_strip/led_strip.h"
#include "key.h"
#include "protocol/p_protocol.h"
#include "protocol/kuyi_protl.h"
#include "protocol/resend_protl.h"
#include "ota_u.h"
typedef struct
{
@@ -12,8 +12,10 @@ typedef struct
os_thread_t embedded_thread;
os_thread_t pc_thread;
os_thread_t task_thread;
ota_u_t otau;
resend_device_t resend_device;
SemaphoreHandle_t resend_read_mutex;
}sertrf_t;
/**