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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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37
samples/sample_c/platform/linux/raspberry_pi/hal/hal_network.c
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@ -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 ------------------------------------------------------------*/