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NEW: release DJI Payload-SDK version 3.12.0

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DJI
2025-06-27 22:36:34 +08:00
parent 54b9f6c6c1
commit 326b8698dd
381 changed files with 122574 additions and 451 deletions
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4
samples/sample_c/platform/linux/raspberry_pi/CMakeLists.txt
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@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
project(dji_sdk_demo_linux C)
project(dji_sdk_demo_on_rpi C)
set(CMAKE_C_FLAGS "-pthread -std=gnu99")
set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
@ -82,7 +82,7 @@ else ()
message(STATUS "Cannot Find LIBUSB")
endif (LIBUSB_FOUND)
target_link_libraries(${PROJECT_NAME} m)
target_link_libraries(${PROJECT_NAME} m dl)
add_custom_command(TARGET ${PROJECT_NAME}
PRE_LINK COMMAND cmake ..

8
samples/sample_c/platform/linux/raspberry_pi/application/dji_sdk_config.h
View File

@ -37,6 +37,8 @@ extern "C" {
#define DJI_USE_ONLY_UART (0)
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
#define DJI_USE_ONLY_USB_BULK_DEVICE (3)
#define DJI_USE_ONLY_NETWORK_DEVICE (4)
/*!< Attention: Select your hardware connection mode here.
* */
@ -58,11 +60,11 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON true
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON false
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON true
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON true
#define CONFIG_MODULE_SAMPLE_XPORT_ON false
#define CONFIG_MODULE_SAMPLE_XPORT_ON true
#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON false
@ -72,6 +74,8 @@ extern "C" {
* */
#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON false
#define CONFIG_MODULE_SAMPLE_TETHERED_BATTERY_ON true
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/

117
samples/sample_c/platform/linux/raspberry_pi/application/main.c
View File

@ -54,6 +54,7 @@
#include "widget/test_widget_speaker.h"
#include "widget/test_widget.h"
#include "data_transmission/test_data_transmission.h"
#include "tethered_battery/test_tethered_battery.h"
#include "dji_sdk_config.h"
/* Private constants ---------------------------------------------------------*/
@ -66,8 +67,6 @@
#define DJI_SYSTEM_CMD_STR_MAX_SIZE (64)
#define DJI_SYSTEM_RESULT_STR_MAX_SIZE (128)
#define DJI_USE_WIDGET_INTERACTION 1
/* Private types -------------------------------------------------------------*/
typedef struct {
pid_t tid;
@ -142,6 +141,7 @@ int main(int argc, char **argv)
returnCode = DjiCore_Init(&userInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Core init error");
sleep(1);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
@ -157,7 +157,6 @@ int main(int argc, char **argv)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (aircraftInfoBaseInfo.mountPositionType != DJI_MOUNT_POSITION_TYPE_PAYLOAD_PORT) {
returnCode = DjiAircraftInfo_GetAircraftVersion(&aircraftInfoVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft version info error");
@ -165,7 +164,6 @@ int main(int argc, char **argv)
USER_LOG_INFO("Aircraft version is V%02d.%02d.%02d.%02d", aircraftInfoVersion.majorVersion,
aircraftInfoVersion.minorVersion, aircraftInfoVersion.modifyVersion,
aircraftInfoVersion.debugVersion);
}
}
/*!< Step 4: Initialize the selected modules by macros in dji_sdk_config.h . */
@ -189,22 +187,15 @@ int main(int argc, char **argv)
#if CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
USER_LOG_ERROR("data tramsmission sample init error");
}
#endif
#if CONFIG_MODULE_SAMPLE_WIDGET_ON
#if DJI_USE_WIDGET_INTERACTION
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget interaction test init error");
}
#else
returnCode = DjiTest_WidgetStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
returnCode = DjiTest_WidgetInteractionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget sample init error");
}
#endif
#if CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
@ -214,30 +205,6 @@ int main(int argc, char **argv)
}
#endif
#if CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = firmwareVersion,
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};
if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk upgrade init error");
}
#endif
if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
(aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)) {
@ -266,6 +233,8 @@ int main(int argc, char **argv)
#if CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
@ -281,6 +250,13 @@ int main(int argc, char **argv)
}
#endif
#if CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
}
#endif
#if CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
@ -292,6 +268,30 @@ int main(int argc, char **argv)
#endif
}
#if CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = firmwareVersion,
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};
if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk upgrade init error");
}
#endif
#if CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
returnCode = DjiTest_HmsCustomizationStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -299,10 +299,12 @@ int main(int argc, char **argv)
}
#endif
#if CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
returnCode = DjiTest_MopChannelStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mop channel sample init error");
#if CONFIG_MODULE_SAMPLE_TETHERED_BATTERY_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE) {
if (DjiTest_TetheredBatteryStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk tethered battery sample init error");
}
}
#endif
@ -344,9 +346,9 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
.SemaphorePost = Osal_SemaphorePost,
.Malloc = Osal_Malloc,
.Free = Osal_Free,
.GetRandomNum = Osal_GetRandomNum,
.GetTimeMs = Osal_GetTimeMs,
.GetTimeUs = Osal_GetTimeUs,
.GetRandomNum = Osal_GetRandomNum,
};
T_DjiLoggerConsole printConsole = {
@ -367,6 +369,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
.UartWriteData = HalUart_WriteData,
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
.UartGetDeviceInfo = HalUart_GetDeviceInfo,
};
T_DjiHalNetworkHandler networkHandler = {
@ -479,14 +482,34 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
returnCode = DjiPlatform_RegHalUartHandler(&uartHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal uart handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#endif
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);

37
samples/sample_c/platform/linux/raspberry_pi/hal/hal_network.c
View File

@ -42,16 +42,27 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
{
int32_t ret;
char cmdStr[LINUX_CMD_STR_MAX_SIZE];
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
int32_t routeIp[4] = {0};
int32_t genMask[4] = {0};
if (ipAddr == NULL || netMask == NULL) {
USER_LOG_ERROR("hal network config param error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
sscanf(ipAddr, "%d.%d.%d.%d", &routeIp[0], &routeIp[1], &routeIp[2], &routeIp[3]);
sscanf(netMask, "%d.%d.%d.%d", &genMask[0], &genMask[1], &genMask[2], &genMask[3]);
routeIp[0] &= genMask[0];
routeIp[1] &= genMask[1];
routeIp[2] &= genMask[2];
routeIp[3] &= genMask[3];
//Attention: need root permission to config ip addr and netmask.
memset(cmdStr, 0, sizeof(cmdStr));
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't open the network."
@ -61,14 +72,34 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
}
snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s %s netmask %s", LINUX_NETWORK_DEV, ipAddr, netMask);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Can't config the ip address of network."
"Probably the program not execute with root permission."
"Please use the root permission to execute the program.");
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
osalHandler->TaskSleepMs(50);
snprintf(cmdStr, sizeof(cmdStr), "ip route flush dev %s", LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
snprintf(cmdStr, sizeof(cmdStr), "route add -net %d.%d.%d.%d netmask %s dev %s",
routeIp[0], routeIp[1], routeIp[2], routeIp[3], netMask, LINUX_NETWORK_DEV);
USER_LOG_DEBUG("%s", cmdStr);
ret = system(cmdStr);
if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("cmd failed: %s", cmdStr);
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
osalHandler->TaskSleepMs(50);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

12
samples/sample_c/platform/linux/raspberry_pi/hal/hal_uart.c
View File

@ -255,6 +255,18 @@ T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *stat
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo)
{
if (deviceInfo == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
deviceInfo->vid = USB_UART_CONNECTED_TO_UAV_VID;
deviceInfo->pid = USB_UART_CONNECTED_TO_UAV_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

10
samples/sample_c/platform/linux/raspberry_pi/hal/hal_uart.h
View File

@ -48,6 +48,15 @@ extern "C" {
#define LINUX_UART_DEV1 "/dev/ttyAMA1"
#define LINUX_UART_DEV2 "/dev/ttyAMA2"
/**
* Use for Eport 2.0, specify the VID and PID of the USB serial port closest to the aircraft.
* FT232 0x0403:0x6001
* CP2102 0x10C4:0xEA60
* VCOM 0x2CA3:0xF002
*/
#define USB_UART_CONNECTED_TO_UAV_VID (0x0403)
#define USB_UART_CONNECTED_TO_UAV_PID (0x6001)
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
@ -56,6 +65,7 @@ T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
T_DjiReturnCode HalUart_GetDeviceInfo(T_DjiHalUartDeviceInfo *deviceInfo);
#ifdef __cplusplus
}

14
samples/sample_c/platform/linux/raspberry_pi/hal/hal_usb_bulk.c
View File

@ -107,6 +107,16 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK3_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK3_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK3_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
}
@ -230,6 +240,10 @@ T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].interfaceNum = LINUX_USB_BULK3_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].endPointIn = LINUX_USB_BULK3_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_2].endPointOut = LINUX_USB_BULK3_END_POINT_OUT;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

11
samples/sample_c/platform/linux/raspberry_pi/hal/hal_usb_bulk.h
View File

@ -65,8 +65,15 @@ extern "C" {
#define LINUX_USB_BULK2_END_POINT_IN (0x82)
#define LINUX_USB_BULK2_END_POINT_OUT (0x02)
#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)
#define LINUX_USB_BULK3_EP_IN_FD "/dev/usb-ffs/bulk3/ep1"
#define LINUX_USB_BULK3_EP_OUT_FD "/dev/usb-ffs/bulk3/ep2"
#define LINUX_USB_BULK3_INTERFACE_NUM (2)
#define LINUX_USB_BULK3_END_POINT_IN (0x83)
#define LINUX_USB_BULK3_END_POINT_OUT (0x03)
#define LINUX_USB_VID (0x2CA3)
#define LINUX_USB_PID (0xF001)
/* Exported types ------------------------------------------------------------*/