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更新到psdk 3.13.0，适配M400

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tangchao0503
2025-09-10 16:03:18 +08:00
parent 985374a323 d856dd6ee8
commit 7fe9650e97
517 changed files with 197499 additions and 7197653 deletions
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130
samples/sample_c/module_sample/data_transmission/test_data_transmission.c
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@ -42,8 +42,12 @@
/* Private functions declaration ---------------------------------------------*/
static void *UserDataTransmission_Task(void *arg);
static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len);
static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len);
/* Private variables ---------------------------------------------------------*/
static T_DjiTaskHandle s_userDataTransmissionThread;//线程句柄
@ -80,13 +84,31 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
if ((s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4TD) &&
s_aircraftInfoBaseInfo.mountPositionType != DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD) {
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from cloud error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
}
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M400) {
USER_LOG_INFO("Only supports small data transmission between PSDK and MSDK.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromOnboardComputer);
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromExtensionPort);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from onboard coputer error.");
USER_LOG_ERROR("register receive data from extension port error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
@ -103,9 +125,24 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
USER_LOG_ERROR("get data stream remote address error.");
}
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
|| DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload);
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload1);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from payload NO1 error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO2;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload2);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from payload NO1 error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO3;
djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromPayload3);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register receive data from payload NO1 error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@ -154,7 +191,7 @@ T_DjiReturnCode DjiTest_DataTransmissionStopService(void)
static void *UserDataTransmission_Task(void *arg)
{
T_DjiReturnCode djiStat;
const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.\r\n";
const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.";
T_DjiDataChannelState state = {0};
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
E_DjiChannelAddress channelAddress;
@ -179,25 +216,48 @@ static void *UserDataTransmission_Task(void *arg)
USER_LOG_ERROR("get send to mobile channel state error.");
}
if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4D ||
s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M4TD ) {
channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to cloud error.");
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"send to cloud state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
USER_LOG_ERROR("get send to cloud channel state error.");
}
}
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to onboard computer error.");
USER_LOG_ERROR("send data to extension port error.");
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
"send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
USER_LOG_ERROR("get send to onboard computer channel state error.");
USER_LOG_ERROR("get send to extension port channel state error.");
}
if (DjiPlatform_GetSocketHandler() != NULL) {
#ifdef SYSTEM_ARCH_LINUX
djiStat = DjiHighSpeedDataChannel_SendDataStreamData(dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to data stream error.");
@ -210,21 +270,22 @@ static void *UserDataTransmission_Task(void *arg)
} else {
USER_LOG_ERROR("get data stream state error.");
}
#endif
}
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
USER_LOG_ERROR("send data to onboard computer error.");
USER_LOG_ERROR("send data to extension port error.");
djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_DEBUG(
"send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
"send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
state.busyState);
} else {
USER_LOG_ERROR("get send to onboard computer channel state error.");
USER_LOG_ERROR("get send to extension port channel state error.");
}
}
}
@ -255,7 +316,7 @@ static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len)
static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len)
{
char *printData = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
@ -268,7 +329,28 @@ static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint1
strncpy(printData, (const char *) data, len);
printData[len] = '\0';
USER_LOG_INFO("receive data from onboard computer: %s, len:%d.", printData, len);
USER_LOG_INFO("receive data from cloud: %s, len:%d.", printData, len);
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
osalHandler->Free(printData);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len)
{
char *printData = NULL;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
printData = osalHandler->Malloc(len + 1);
if (printData == NULL) {
USER_LOG_ERROR("malloc memory for printData fail.");
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
strncpy(printData, (const char *) data, len);
printData[len] = '\0';
USER_LOG_INFO("receive data from extension port: %s, len:%d.", printData, len);
DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
osalHandler->Free(printData);
@ -297,4 +379,22 @@ static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_DjiReturnCode ReceiveDataFromPayload1(const uint8_t *data, uint16_t len)
{
USER_LOG_INFO("Receive from payload on port 1");
return ReceiveDataFromPayload(data, len);
}
static T_DjiReturnCode ReceiveDataFromPayload2(const uint8_t *data, uint16_t len)
{
USER_LOG_INFO("Receive from payload on port 2");
return ReceiveDataFromPayload(data, len);
}
static T_DjiReturnCode ReceiveDataFromPayload3(const uint8_t *data, uint16_t len)
{
USER_LOG_INFO("Receive from payload on port 3");
return ReceiveDataFromPayload(data, len);
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/