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NEW: release DJI Payload-SDK version 3.8.0

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This commit is contained in:
DJI-Martin
2023-12-11 18:31:51 +08:00
parent 707ae4fc5b
commit b76d6a1d9a
50 changed files with 486 additions and 130 deletions
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2
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
View File

@ -1167,7 +1167,7 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
int lengthOfDataHaveBeenSent = 0;
char *dataBuffer = NULL;
T_TestPayloadCameraPlaybackCommand playbackCommand = {0};
uint16_t bufferReadSize = 0;
uint16_t bufferReadSize = 0;
char *videoFilePath = NULL;
char *transcodedFilePath = NULL;
float frameRate = 1.0f;

27
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -69,6 +69,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
{DJI_CAMERA_TYPE_M30T, "M30T Camera"},
{DJI_CAMERA_TYPE_M3E, "M3E Camera"},
{DJI_CAMERA_TYPE_M3T, "M3T Camera"},
{DJI_CAMERA_TYPE_M3D, "M3D Camera"},
{DJI_CAMERA_TYPE_M3TD, "M3TD Camera"},
};
static FILE *s_downloadMediaFile = NULL;
@ -918,8 +920,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3T ||
cameraType == DJI_CAMERA_TYPE_L2) {
cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_M3TD) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -958,7 +960,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N
|| cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30
|| cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E
|| cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_L2) {
|| cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D
|| cameraType == DJI_CAMERA_TYPE_M3TD) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -1265,7 +1268,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (cameraType == DJI_CAMERA_TYPE_XT2 || cameraType == DJI_CAMERA_TYPE_XTS ||
cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_L2 ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T ||
cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
USER_LOG_INFO("Camera type %s does not support night scene mode!",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;
@ -1368,7 +1372,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
cameraType == DJI_CAMERA_TYPE_XTS || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1) {
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M3D) {
USER_LOG_INFO("Camera type %s does not support set capture or recording stream(s) to storage.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;
@ -1483,6 +1487,12 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO: {
T_DjiCameraManagerStorageInfo storageInfo;
if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
USER_LOG_INFO("Position %d, camera type %d, doesn't support get storage info. Sample exits.");
goto exitCameraModule;
}
for (uint32_t i = 0; i < 30; i++) {
returnCode = DjiCameraManager_GetStorageInfo(mountPosition, &storageInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1996,7 +2006,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M3E ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_L2) {
USER_LOG_WARN("Camera type %s don't support FFC function.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
@ -2042,7 +2052,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M3E ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_L2) {
USER_LOG_WARN("Camera type %s don't support infrared function.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
@ -2092,7 +2102,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
uint16_t recordingTime;
uint8_t remainingTime;
if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1) {
if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
USER_LOG_INFO("Camera type %d does not support to get camera stauts such as "
"capturing state, recording state.", cameraType);
goto exitCameraModule;

4
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -1253,7 +1253,9 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion();
s_osalHandler->TaskSleepMs(1000);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
break;
}

3
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
View File

@ -140,7 +140,8 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
rotation = s_rotationActionList[i].rotation;
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30
|| aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
T_DjiDataTimestamp timestamp = {0};

2
samples/sample_c/module_sample/hms/test_hms.c
View File

@ -406,6 +406,8 @@ static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
hmsInfoTable.hmsInfo[i].errorCode);
}
}
cJSON_Delete(hmsJsonRoot);
}
static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)

18
samples/sample_c/module_sample/liveview/test_liveview.c
View File

@ -80,11 +80,10 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
USER_LOG_INFO("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
DjiTest_WidgetLogAppend("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
} else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
} else {
localTime = localtime(&currentTime);
sprintf(s_fpvCameraStreamFilePath, "fpv_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
@ -127,11 +126,9 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
USER_LOG_INFO("--> Step 3: Stop h264 stream of the fpv and selected payload\r\n");
DjiTest_WidgetLogAppend("--> Step 3: Stop h264 stream of the fpv and selected payload");
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
} else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
} else {
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Request to stop h264 of fpv failed, error code: 0x%08X", returnCode);
@ -149,7 +146,8 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
localTime = localtime(&currentTime);

218
samples/sample_c/module_sample/utils/util_link_list.c Normal file
View File

@ -0,0 +1,218 @@
/**
********************************************************************
* @file util_link_list.c
* @brief
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* 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 UTIL_LINK_LIST_C
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "util_link_list.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Private values ------------------------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node )
{
if ( NULL == node) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( NULL != node->data ) {
UTIL_OSAL_MEMRY_FREE( node->data );
node->data = NULL;
}
return;
}
void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node )
{
if ( NULL == node) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
UTIL_OSAL_MEMRY_FREE( node );
return;
}
void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data )
{
if ( NULL == node ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
node->prev = NULL;
node->next = NULL;
node->data = data;
return;
}
T_UtilListNode *DjiUserUtil_NewListNode( void *data )
{
T_UtilListNode *node = NULL;
node = (T_UtilListNode *)UTIL_OSAL_MEMRY_ALLOC( sizeof(T_UtilListNode) );
if ( NULL == node ) {
UTIL_REPORT_ERROR( "null pointer" );
return NULL;
}
DjiUserUtil_InitListNode( node, data );
return node;
}
void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList )
{
T_UtilListNode *node = NULL;
T_UtilListNode *next = NULL;
if ( NULL == linkList ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
for ( node = linkList->first; NULL != node ; node = next ) {
next = node->next;
DjiUserUtil_ListNodeDeleteDataOnly( node );
DjiUserUtil_ListNodeDeleteNodeSelf( node );
}
}
void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node )
{
if ( ( NULL == linkList ) || ( NULL == node ) ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
node->prev = NULL;
node->next = NULL;
linkList->first = node;
linkList->last = node;
} else {
node->prev = NULL;
node->next = linkList->first;
linkList->first = node;
node->next->prev = node;
}
linkList->count ++;
return;
}
void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node )
{
if ( ( NULL == linkList ) || ( NULL == node ) ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
node->prev = NULL;
node->next = NULL;
linkList->first = node;
linkList->last = node;
} else {
node->next = NULL;
node->prev = linkList->last;
linkList->last = node;
node->prev->next = node;
}
linkList->count ++;
return;
}
void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList )
{
if ( NULL == linkList ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
linkList->first = NULL;
linkList->last = NULL;
linkList->count = 0;
return;
}
T_UtilLinkList *DjiUserUtil_NewLinkList( void )
{
T_UtilLinkList *linkList = NULL;
linkList = (T_UtilLinkList *)UTIL_OSAL_MEMRY_ALLOC( sizeof( T_UtilLinkList ) );
if ( NULL == linkList ) {
UTIL_REPORT_ERROR( "null pointer" );
return NULL;
}
DjiUserUtil_InitLinkList( linkList );
return linkList;
}
void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node )
{
if ( ( NULL == linkList ) || ( NULL == node ) ) {
UTIL_REPORT_ERROR( "null pointer" );
return;
}
if ( node == linkList->first ) {
linkList->first = linkList->first->next;
}
if ( node == linkList->last ) {
linkList->last = linkList->last->prev;
}
if ( NULL != node->next ) {
node->next->prev = node->prev;
}
if ( NULL != node->prev ) {
node->prev->next = node->next;
}
if ( 0 != linkList->count ) {
linkList->count --;
}
DjiUserUtil_ListNodeDeleteNodeSelf( node );
return;
}
/* Private functions definition-----------------------------------------------*/
#ifdef __cplusplus
}
#endif
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

94
samples/sample_c/module_sample/utils/util_link_list.h Normal file
View File

@ -0,0 +1,94 @@
/**
********************************************************************
* @file link_list.h
* @brief This is the header file for "link_list.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2021 DJI. All rights reserved.
*
* 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 UTIL_LINK_LIST_H
#define UTIL_LINK_LIST_H
/* Includes ------------------------------------------------------------------*/
#include "dji_platform.h"
#ifdef UTIL_LINK_LIST_C
#define UTIL_LINK_LIST_EXT
#else
#define UTIL_LINK_LIST_EXT extern
#endif
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define UTIL_REPORT_ERROR( exp... )
#define UTIL_OSAL_MEMRY_ALLOC(size) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Malloc( size ); } )
#define UTIL_OSAL_MEMRY_FREE(ptr) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Free( ptr ); } )
#define UTIL_OSAL_SEM_FREE_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreDestroy( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_INIT_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreCreate( 0, sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_POST_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphorePost( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_WAIT_MAY_RETURN(sem) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreWait( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_SEM_WAIT_FOR(sem,ms) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreTimedWait( sem, ms ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_FREE_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexDestroy( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_INIT_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexCreate( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_LOCK_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexLock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_OSAL_MUTEX_UNLOCK_MAY_RETURN(mutex) ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexUnlock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
#define UTIL_LINKLIST_IS_EMPTY(l) ( ((l).first == NULL) ? true : false )
/* Exported types ------------------------------------------------------------*/
typedef struct tagT_UtilListNode {
struct tagT_UtilListNode *next;
struct tagT_UtilListNode *prev;
void *data;
} T_UtilListNode;
typedef struct tagT_UtilLinkList {
T_UtilListNode *first;
T_UtilListNode *last;
uint32_t count;
} T_UtilLinkList;
/* Exported functions --------------------------------------------------------*/
UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data );
UTIL_LINK_LIST_EXT T_UtilListNode *DjiUserUtil_NewListNode( void *data );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node );
UTIL_LINK_LIST_EXT void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList );
UTIL_LINK_LIST_EXT T_UtilLinkList *DjiUserUtil_NewLinkList( void );
UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node );
#ifdef __cplusplus
}
#endif
#endif // UTIL_LINK_LIST_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

4
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -322,7 +322,9 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
}
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
return DjiTest_PlayAudioData();
} else {
txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");

2
samples/sample_c/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c
View File

@ -132,7 +132,7 @@ T_DjiReturnCode DjiUpgradePlatformLinux_CreateUpgradeProgramFile(const T_DjiUpgr
snprintf(filePath, DJI_FILE_PATH_SIZE_MAX, "%s%s", DJI_TEST_UPGRADE_FILE_DIR, fileInfo->fileName);
s_upgradeProgramFile = fopen(filePath, "w+");
if (s_upgradeProgramFile == NULL) {
USER_LOG_ERROR("Upgrade program file can't create: \"%s\"", filePath);
USER_LOG_ERROR("Upgrade program file can't create");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}

4
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -219,7 +219,7 @@ int main(int argc, char **argv)
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.firmwareVersion = firmwareVersion,
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};
@ -326,7 +326,7 @@ int main(int argc, char **argv)
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.firmwareVersion = firmwareVersion,
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};

2
samples/sample_c/platform/linux/nvidia_jetson/application/main.c
View File

@ -291,7 +291,7 @@ int main(int argc, char **argv)
.cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.firmwareVersion = firmwareVersion,
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = true
};

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/FreeRTOSConfig.h
View File

@ -64,7 +64,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)75000)
#define configTOTAL_HEAP_SIZE ((size_t)90000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1

17
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -112,10 +112,10 @@ void DjiUser_StartTask(void const *argument)
.UartGetStatus = HalUart_GetStatus,
};
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
.majorVersion = USER_FIRMWARE_MAJOR_VERSION,
.minorVersion = USER_FIRMWARE_MINOR_VERSION,
.modifyVersion = USER_FIRMWARE_MODIFY_VERSION,
.debugVersion = USER_FIRMWARE_DEBUG_VERSION,
};
UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
@ -233,7 +233,6 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#if !USE_USB_HOST_UART
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
@ -318,7 +317,12 @@ void DjiUser_StartTask(void const *argument)
.cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.firmwareVersion = {
USER_FIRMWARE_MAJOR_VERSION,
USER_FIRMWARE_MINOR_VERSION,
USER_FIRMWARE_MODIFY_VERSION,
USER_FIRMWARE_DEBUG_VERSION
},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = false
};
@ -326,7 +330,6 @@ void DjiUser_StartTask(void const *argument)
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk upgrade init error");
}
#endif
#endif
returnCode = DjiCore_ApplicationStart();

6
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

@ -44,11 +44,11 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
// #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_ON
// #define CONFIG_MODULE_SAMPLE_CAMERA_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
// #define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON

6
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/main.c
View File

@ -27,6 +27,8 @@
#include "application.h"
#include "FreeRTOS.h"
#include "task.h"
#include "core_cm4.h"
#include "flash_if.h"
/* Private constants ---------------------------------------------------------*/
#define USER_START_TASK_STACK_SIZE 2048
@ -53,6 +55,10 @@ void Error_Handler(void);
int main(void)
{
__disable_irq();
SCB->VTOR = APPLICATION_ADDRESS;
__enable_irq();
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec

4
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/STM32F407VGTX_FLASH.ld
View File

@ -29,7 +29,7 @@
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of "RAM" Ram type memory */
_estack = ORIGIN(RAM) + LENGTH(RAM) - 4; /* end of "RAM" Ram type memory */
_Min_Heap_Size = 0x800 ; /* required amount of heap */
_Min_Stack_Size = 0x800 ; /* required amount of stack */
@ -39,7 +39,7 @@ MEMORY
{
CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K
FLASH (rx) : ORIGIN = 0x8010000, LENGTH = 448K
}
/* Sections */

5
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx
View File

@ -535,6 +535,11 @@
</File>
<File>
<FileType>1</FileType>
<FileName>util_link_list.c</FileName>
<FilePath>..\..\..\..\..\module_sample\utils\util_link_list.c</FilePath>
</File>
<File>
<FileType>1</FileType>
<FileName>util_md5.c</FileName>
<FilePath>..\..\..\..\..\module_sample\utils\util_md5.c</FilePath>
</File>