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/**
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* @ file psdk_xport . h
* @ brief XPort module provides some interfaces used to control XPort and get states of XPort . The module can be used
* only when the PSDK adapter is XPort , rather than Skyport .
*
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* @ copyright ( c ) 2018 DJI . All rights reserved .
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*
* All information contained herein is , and remains , the property of DJI .
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U . S . and foreign patents , patents in process ,
* and protected by trade secret or copyright law . Dissemination of this
* information , including but not limited to data and other proprietary
* material ( s ) incorporated within the information , in any form , is strictly
* prohibited without the express written consent of DJI .
*
* If you receive this source code without DJI ’ s authorization , you may not
* further disseminate the information , and you must immediately remove the
* source code and notify DJI of its removal . DJI reserves the right to pursue
* legal actions against you for any loss ( es ) or damage ( s ) caused by your
* failure to do so .
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/
/* Define to prevent recursive inclusion -------------------------------------*/
# ifndef PSDK_XPORT_H
# define PSDK_XPORT_H
/* Includes ------------------------------------------------------------------*/
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# include "psdk_typedef.h"
# include "psdk_gimbal.h"
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# ifdef __cplusplus
extern " C " {
# endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/**
* @ brief XPort limit angle category .
*/
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typedef enum {
PSDK_XPORT_LIMIT_ANGLE_CATEGORY_ROLL_JOINT_ANGLE = 0 , /*!< Joint angle limit of roll axis. */
PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE = 1 , /*!< Joint angle limit of pitch axis. */
PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE = 2 , /*!< Euler angle limit of pitch axis, just is limitation of angle in ground coordinate. */
PSDK_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION = 3 , /*!< Extended euler angle limit of pitch axis, just is limitation of angle in ground coordinate. Extended euler
angle limit is activated when enable extended pitch axis angle limit . */
PSDK_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE = 4 , /*!< Joint angle limit of yaw axis. */
} E_PsdkXPortLimitAngleCategory ;
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/**
* @ brief Limit angle data structure .
*/
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typedef struct {
int16_t upperLimit ; /*!< Upper limit of limit angle, unit: 0.1degree. */
int16_t lowerLimit ; /*!< Lower limit of limit angle, unit: 0.1degree. */
} T_PsdkXPortLimitAngle ;
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/**
* @ brief Prototype of callback function used to receive system state of XPort .
* @ warning User can not execute blocking style operations or functions in callback function , because that will block PSDK
* root thread , causing problems such as slow system response , payload disconnection or infinite loop .
* @ param systemState : system state of XPort .
* @ return Execution result .
*/
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typedef T_PsdkReturnCode ( * ReceiveXPortSystemStateCallback ) ( T_PsdkGimbalSystemState systemState ) ;
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/**
* @ brief Prototype of callback function used to receive attitude information of XPort .
* @ warning User can not execute blocking style operations or functions in callback function , because that will block PSDK
* root thread , causing problems such as slow system response , payload disconnection or infinite loop .
* @ param attitudeInformation : attitude information of XPort .
* @ return Execution result .
*/
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typedef T_PsdkReturnCode ( * ReceiveXPortAttitudeInformationCallback ) (
T_PsdkGimbalAttitudeInformation attitudeInformation ) ;
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/* Exported functions --------------------------------------------------------*/
/**
* @ brief Initialise XPort module .
* @ note The function have to be called before other functions related to XPort .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_Init ( void ) ;
/**
* @ brief Deinitialize XPort module .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_DeInit ( void ) ;
/**
* @ brief Register callback function used to receive system state of XPort .
* @ note The callback function will be called after registering . The call frequency is 1 Hz .
* @ param callback : pointer to the callback function .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_RegReceiveSystemStateCallback ( ReceiveXPortSystemStateCallback callback ) ;
/**
* @ brief Register callback function used to receive attitude information of XPort .
* @ note The callback function will be called after registering . The call frequency is 10 Hz .
* @ param callback : pointer to the callback function .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_RegReceiveAttitudeInformationCallback ( ReceiveXPortAttitudeInformationCallback callback ) ;
/**
* @ brief Set gimbal mode of XPort in blocking mode .
* @ note Max execution time of this function is slightly larger than 600 ms .
* @ param mode : gimbal mode .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_SetGimbalModeSync ( E_PsdkGimbalMode mode ) ;
/**
* @ brief Rotate gimbal of XPort in blocking mode .
* @ note Max execution time of this function is slightly larger than 600 ms .
* @ note If rotation mode is : : PSDK_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or : : PSDK_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE ,
* range of yaw value in rotation value argument is [ - 1800 , 1800 ] . Gimbal can rotate to any angle of yaw axis by the
* range . Symbol of yaw value does not determine the rotation direction of the gimbal .
* @ note Attitude that gimbal can reach is also determined by angle limitation and angle limitation buffer of the gimbal .
* When the gimbal is upward , angle limitation differs from limitation users set . For angle limitation and angle limitation
* buffer , please refer to PSDK documentation for details . If gimbal attitude is within range limitation buffer and
* control gimbal move towards limit direction still , or gimbal attitude is outside the angle limitation buffer but
* control gimbal to the range limitation buffer , the gimbal will return an error . For the former case , the gimbal will not
* move . In the latter case , the gimbal will try to move towards the direction of angle limit but it will stop at
* somewhere in angle limitation buffer .
* @ note Rotation speed and rotation duration are also limited by the maximum speed of gimbal and maximum acceleration . The
* maximum acceleration is determined by the smooth factor of the gimbal controller set by APP . The maximum speed is determined
* by default maximum speed and maximum speed percentage set by APP , and the default maximum speed of XPort is
* 90 degree / s . For the detailed relationship , please refer to SetControllerSmoothFactor ( ) and
* SetControllerMaxSpeedPercentage ( ) callback function prototype in psdk_gimbal . h file .
* @ note Only pitch and yaw axis of XPort is controllable .
* @ note XPort do not response rotation command in process of control parameters auto - tuning , coaxiality detection ,
* balance detection and resetting . And these operations will interrupt rotation of XPort .
* @ note Effective time of a speed control command is 500 ms , that is , if XPort do not receive other control commands
* within 500 ms after speed control , XPort will stop rotation .
* @ param rotationMode : mode of rotation command .
* @ param rotationProperty : property of rotation command .
* @ param rotationValue : value of rotation command , unit : 0.1 degree ( if rotation mode is
* : : PSDK_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or : : PSDK_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE ) , 0.1 degree / s
* ( if rotation mode is : : PSDK_GIMBAL_ROTATION_MODE_SPEED ) .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_RotateSync ( E_PsdkGimbalRotationMode rotationMode ,
T_PsdkGimbalRotationProperty rotationProperty , T_PsdkAttitude3d rotationValue ) ;
/**
* @ brief Release gimbal control permission out in blocking mode .
* @ details When PSDK application control XPort gimbal , PSDK application will capture and gain control permission of
* gimbal if allowable . After PSDK application sending a sequence of the gimbal control command , PSDK application should
* call this interface to release control permission of gimbal , to allow other modules ( like APP , flight
* controller ) can control gimbal right now . For example , PSDK application can release control permission after tap
* zooming . Of course , if PSDK application does not release control permission after controlling gimbal , the gimbal will also
* release control permission automatically at some time point later than the completion of control commands . Undoubtedly ,
* this is inefficient .
* @ note Max execution time of this function is slightly larger than 600 ms .
* @ note XPort do not response release control permission command in process of control parameters auto - tuning ,
* coaxiality detection and balance detection .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_ReleaseControlPermissionSync ( void ) ;
/**
* @ brief Reset gimbal of XPort in blocking mode .
* @ details The interface reset angle of pitch axis to corresponding fine tune value in ground coordinate , and yaw axis
* to superimposed value of yaw axis angle of aircraft and corresponding fine tune value in ground coordinate .
* @ note Max execution time of this function is slightly larger than 600 ms .
* @ note XPort do not response reset command in process of control parameters auto - tuning , coaxiality detection and
* balance detection .
* @ param mode : Reset mode .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_ResetSync ( E_PsdkGimbalResetMode mode ) ;
/**
* @ brief Set limit angle for XPort in blocking mode .
* @ details Please refer to XPort part of < a href = " https://developer.dji.com/payload-sdk " > developer website < / a > for
* details about default limit angle of XPort .
* @ note Max execution time of this function is slightly larger than 1200 ms .
* @ note XPort do not response set limit angle command in process of control parameters auto - tuning , coaxiality
* detection and balance detection .
* @ param limitAngleCategory : limit angle category .
* @ param limitAngle : limit angle .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_SetLimitAngleSync ( E_PsdkXPortLimitAngleCategory limitAngleCategory ,
T_PsdkXPortLimitAngle limitAngle ) ;
/**
* @ brief Get limit angle of XPort in blocking mode .
* @ note Max execution time of this function is slightly larger than 1200 ms .
* @ param limitAngleCategory : limit angle category .
* @ param limitAngle : pointer to memory space used to store limit angle .
* @ return Execution result .
*/
T_PsdkReturnCode PsdkXPort_GetLimitAngleSync ( E_PsdkXPortLimitAngleCategory limitAngleCategory ,
T_PsdkXPortLimitAngle * limitAngle ) ;
/**
* @ brief Set speed conversion factor for speed control from joystick and APP .
* @ details XPort convert speed control command from joystick and APP to rotation speed based on the speed conversion
* factor . The formula is " speed = maximum rotation speed * conversion factor " , and maximum rotation speed is a product of
* default maximum speed and maximum speed percentage . The default maximum rotation speed is 90 degree / s . The maximum
* speed percentage is set by APP . The default speed conversion factor is 1.0 .
* @ note The value will be effective after a while , and the max value is 100 ms .
* @ param factor : Speed conversion factor and it has to be smaller than or equal to 1.0 .
* @ return Execution result .
*/
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T_PsdkReturnCode PsdkXPort_SetSpeedConversionFactor ( float factor ) ;
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# ifdef __cplusplus
}
# endif
# endif // PSDK_XPORT_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
