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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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60
psdk_lib/include/dji_cloud_api_by_websockt.h Normal file
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@ -0,0 +1,60 @@
/**
********************************************************************
* @file dji_cloud_api_by_websockt.h
* @brief This is the header file for "dji_cloud_api_by_websockt.h", 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 DJI_CLOUD_API_BY_WEEBSOCKET_H
#define DJI_CLOUD_API_BY_WEEBSOCKET_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
/**
* @brief Send data into cloud api channel over pilot2 websocket.
* @note This interface should be called only on manifold3 application. It is recommended
* to send more bytes of data at a time to improve read and write efficiency. Need to determine whether the send is
* successful according to the return code and the actual sent data length.
* @param data: pointer to data to be sent.
* @param len: length of data to be sented to pilot2, unit: byte.
* @param realLen: pointer to real length of data that already sent.
* @return Execution result.
*/
T_DjiReturnCode DjiCloudApi_SendDataByWebSocket(uint8_t *data, uint32_t len, uint32_t *realLen);
#ifdef __cplusplus
}
#endif
#endif
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

147
psdk_lib/include/dji_fc_subscription.h
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@ -526,6 +526,153 @@ typedef enum {
*/
DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 48),
/*!
* @brief Provides postion NO.1 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO1 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 48),
/*!
* @brief Provides postion NO.2 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO2 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 49),
/*!
* @brief Provides postion NO.3 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO3 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 50),
/*!
* @brief Provides postion NO.4 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO4 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 51),
/*!
* @brief Provides postion NO.5 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO5 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 52),
/*!
* @brief Provides postion NO.6 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO6 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 53),
/*!
* @brief Provides postion NO.7 gimbal pitch, roll, yaw @ up to 50Hz
* @details
* The reference frame for gimbal angles is a NED frame attached to the gimbal.
* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
* |Data Structure Element| Meaning|
* |----------------------|--------|
* |Vector3f.x |pitch |
* |Vector3f.y |roll |
* |Vector3f.z |yaw |
*
* @perf
* 0.1 deg accuracy in all axes
*
* @sensors Gimbal Encoder, IMU, Magnetometer
* @units deg
* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
*/
DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO7 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 54),
/*! Total number of topics that can be subscribed. */
DJI_FC_SUBSCRIPTION_TOPIC_TOTAL_NUMBER,
} E_DjiFcSubscriptionTopic;

53
psdk_lib/include/dji_flight_controller.h
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@ -237,6 +237,17 @@ typedef enum {
DJI_FLIGHT_CONTROLLER_DISABLE_RC_LOST_ACTION = 1,
} E_DjiFlightControllerRCLostActionEnableStatus;
typedef enum {
DJI_FLIGHT_CONTROLLER_NO_MOTOR_IN_SLOW_ROTATE_MODE = 0,
DJI_FLIGHT_CONTROLLER_SOME_MOTOR_IN_SLOW_ROTATE_MODE = 1,
DJI_FLIGHT_CONTROLLER_ALL_MOTOR_IN_SLOW_ROTATE_MODE = 2,
} E_DjiFlightControllerElectronicSpeedControllerStatus;
typedef enum {
DJI_FLIGHT_CONTROLLER_FTS_NOT_TRIGGERD = 0,
DJI_FLIGHT_CONTROLLER_FTS_TRIGGERD = 1,
} E_DjiFlightControllerFtsStatus;
/**
* @brief Joystick mode.
* @note You need to set joystick mode first before start to send joystick command to aircraft.
@ -274,6 +285,16 @@ typedef struct {
#pragma pack()
typedef struct {
E_DjiMountPosition fts_select;
E_DjiFlightControllerFtsStatus fts_status;
uint8_t fts_pwm_cnt; /* correct number of PWM signals received */
} T_DjiFtsPwmTriggerStatus;
typedef struct {
T_DjiFtsPwmTriggerStatus ESC[2]; /* trigger status of the two ESCs */
} T_DjiFtsPwmEscTriggerStatus;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise flight controller module
@ -649,6 +670,38 @@ DjiFlightController_GetEnableRCLostActionStatus(E_DjiFlightControllerRCLostActio
*/
T_DjiReturnCode DjiFlightController_RegTriggerFtsEventCallback(TriggerFtsEventCallback callback);
/**
* @brief Start to rotate motors slowly.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StartSlowRotateMotor(void);
/**
* @brief Stop to rotate motors slowly.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StopSlowRotateMotor(void);
/**
* @brief Get the status of the ESC.
* @param status: The status of the motor on aircraft.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetElectronicSpeedControllerStatus(E_DjiFlightControllerElectronicSpeedControllerStatus *status);
/**
* @brief Select Fts pwm trigger.
* @param position: Pwm trigger source position.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SelectFtsPwmTrigger(E_DjiMountPosition position);
/**
* @brief Get Fts pwm trigger status.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetFtsPwmTriggerStatus(T_DjiFtsPwmEscTriggerStatus* trigger_status);
#ifdef __cplusplus
}
#endif

27
psdk_lib/include/dji_hms_customization.h
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@ -44,6 +44,18 @@ typedef enum {
DJI_HMS_ERROR_LEVEL_FATAL,
} E_DjiHmsErrorLevel;
typedef enum {
DJI_HMS_ALARM_ENHANCED_TYPE_SHAKE_MOTOR = 1, /*!< Alarm triggered by shaking the motor on the pilot; alerts the user with vibrations indicating a warning or fault. */
DJI_HMS_ALARM_ENHANCED_PLAY_SOUND = 2, /*!< Alarm triggered by playing sound */
DJI_HMS_ALARM_ENHANCED_PLAY_SOUND_AND_SHAKE_MOTOR =3, /*!< Alarm that alerts the user on the PILOT app with both sound and vibrations */
} E_DjiHmsAlarmEnhancedType;
typedef enum {
DJI_HMS_ALARM_ENHANCED_ACTION_STOP = 0, /*!< Action to stop a specific enhanced alarm, shake motor or play sound */
DJI_HMS_ALARM_ENHANCED_ACTION_START = 1, /*!< Action to stop a specific enhanced alarm */
DJI_HMS_ALARM_ENHANCED_ACTION_EXIT_ALL =2,/*!< Action to exit all enhanced alarms, both shake motor and play sound; */
} E_DjiHmsAlarmEnhancedAction;
typedef struct {
char *fileName; /*!< The file name of the hms text config file */
uint32_t fileSize; /*!< The file size of the hms text config file, uint : byte */
@ -55,6 +67,12 @@ typedef struct {
T_DjiHmsFileBinaryArray *fileBinaryArrayList; /*!< Pointer to binary array list */
} T_DjiHmsBinaryArrayConfig;
typedef struct {
E_DjiHmsAlarmEnhancedType type; /*!< The type is used to specify which enhanced alarm to ACTION_STOP or ACTION_START. It is ignored when EXIT_ALL alarms.*/
int8_t times; /* !< Specifies the number of consecutive times the alarm is to be activated.*/
int16_t interval; /* !< Indicates the interval (in milliseconds) between consecutive activations of the alarm.*/
} T_DjiHmsAlarmEnhancedSetting;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise hms customization module, and user should call this function
@ -124,6 +142,15 @@ T_DjiReturnCode DjiHmsCustomization_RegDefaultHmsTextConfigByBinaryArray(const T
T_DjiReturnCode DjiHmsCustomization_RegHmsTextConfigByBinaryArray(E_DjiMobileAppLanguage appLanguage,
const T_DjiHmsBinaryArrayConfig *binaryArrayConfig);
/**
* @brief Contrl the app alram.
* @note This interface support on DJI manifold3.
* @param action: The action to start or stop alarm.
* @param setting: The alarm information.
* @return Execution result.
*/
T_DjiReturnCode DjiHmsCustomization_AlarmEnhancedCtrl(E_DjiHmsAlarmEnhancedAction action, T_DjiHmsAlarmEnhancedSetting setting);
#ifdef __cplusplus
}
#endif

9
psdk_lib/include/dji_interest_point.h
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@ -39,16 +39,23 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
typedef enum {
DJI_INTEREST_POINT_MISSION_ACTION_STATE_NOT_STARTED = 0,
DJI_INTEREST_POINT_MISSION_ACTION_STATE_PAUSE = 1,
DJI_INTEREST_POINT_MISSION_ACTION_STATE_RUNNING = 2,
} E_DjiInterestPointActionState;
typedef struct {
dji_f32_t curSpeed;
dji_f32_t radius;
uint8_t state;
uint8_t state; /*!< Refer to E_DjiInterestPointActionState.*/
} T_DjiInterestPointMissionState;
typedef struct {
dji_f64_t latitude;
dji_f64_t longitude;
dji_f32_t speed;
int8_t payloadCameraIndex; /*!< Used by which aircraft that can mount payload cameras. Range starts from 1.*/
} T_DjiInterestPointSettings;
typedef T_DjiReturnCode (*InterestPointMissionStateCallback)(T_DjiInterestPointMissionState missionState);

166
psdk_lib/include/dji_liveview.h
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@ -47,6 +47,15 @@ typedef enum {
DJI_LIVEVIEW_CAMERA_POSITION_FPV = 7
} E_DjiLiveViewCameraPosition;
/**
* @brief Image format.
*/
typedef enum {
PIXFMT_NV12 = 3,
PIXFMT_RGB_PLANAR = 4,
PIXFMT_RGB_PACKED = 5
} E_DjiLiveViewPixFormate;
/**
* @brief Liveview camera stream source.
*/
@ -71,6 +80,8 @@ typedef enum {
DJI_LIVEVIEW_CAMERA_SOURCE_M3D_VIS = 1,
DJI_LIVEVIEW_CAMERA_SOURCE_M3TD_VIS = 1,
DJI_LIVEVIEW_CAMERA_SOURCE_M3TD_IR = 2,
DJI_LIVEVIEW_CAMERA_SOURCE_H30_ZOOM = 1,
DJI_LIVEVIEW_CAMERA_SOURCE_H30_4K = 7,
DJI_LIVEVIEW_CAMERA_SOURCE_M4E_VIS = 1,
DJI_LIVEVIEW_CAMERA_SOURCE_M4T_VIS = 1,
DJI_LIVEVIEW_CAMERA_SOURCE_M4T_IR = 2,
@ -79,11 +90,91 @@ typedef enum {
DJI_LIVEVIEW_CAMERA_SOURCE_M4TD_IR = 2,
} E_DjiLiveViewCameraSource;
/**
* @brief DJI standard types of target recognition.
*/
typedef enum {
DJI_LIVEVIEW_OBJ_TYPE_INVALID = 0,
DJI_LIVEVIEW_OBJ_TYPE_UNKNOWN = 1,
DJI_LIVEVIEW_OBJ_TYPE_PERSON = 2,
DJI_LIVEVIEW_OBJ_TYPE_CAR = 3,
DJI_LIVEVIEW_OBJ_TYPE_BOAT = 4,
DJI_LIVEVIEW_OBJ_TYPE_HUMAN_FACE = 5,
DJI_LIVEVIEW_OBJ_TYPE_BIRD = 10,
DJI_LIVEVIEW_OBJ_TYPE_BEACON = 20,
DJI_LIVEVIEW_OBJ_TYPE_GPS = 30,
DJI_LIVEVIEW_OBJ_TYPE_MOVING_TARGET = 34,
} E_DjiLiveViewTargetObjectType;
/**
* @brief Target Recognition Status.
*/
typedef enum {
DJI_LIVEVIEW_OBJ_STATE_INVALID = 0, /*!< invalid state */
DJI_LIVEVIEW_OBJ_STATE_TRACKED = 1, /*!< steady state following */
DJI_LIVEVIEW_OBJ_STATE_VISION_BEACON_FUSIONED = 2, /*!< Vision beacon fusion state */
DJI_LIVEVIEW_OBJ_STATE_AUXILIARY_TRACKED = 3, /*!< Loss of trigger source, auxiliary observation following state */
DJI_LIVEVIEW_OBJ_STATE_NOT_CONFIDENT = 4, /*!< unstable following state */
DJI_LIVEVIEW_OBJ_STATE_LOST_WITH_PREDICT = 5, /*!< Target lost, forecast status maintained */
DJI_LIVEVIEW_OBJ_STATE_LOST = 6, /*!< Target Loss Status */
DJI_LIVEVIEW_OBJ_STATE_REDETECTED = 7, /*!< Target Loss Retrieval Status */
} E_DjiLiveViewTargetObjectState;
/**
* @brief Picture frame information for target recognition results
*/
typedef struct
{
uint16_t cx; /*!< X-coordinate of the center of the frame, unit: 1/10000 * screen width */
uint16_t cy; /*!< Y-coordinate of the center of the frame, unit: 1/10000 * screen height */
uint16_t w; /*!< Frame width, unit: 1/10000 * screen width */
uint16_t h; /*!< Frame height, unit: 1/10000 * screen height */
uint32_t distance; /*!< Distance in mm */
} __attribute__((packed)) T_DjiLiveViewTarget2dBox;
/**
* @brief BoundingBox information for target recognition.
*/
typedef struct {
uint16_t id;
uint8_t type; /*!< type can be an enumerated value of E_DjiLiveViewTargetObjectType or a user-defined value. */
uint8_t state; /*!< state should be of type E_DjiLiveViewTargetObjectState enumeration */
T_DjiLiveViewTarget2dBox box;
} __attribute__((packed)) T_DjiLiveViewBoundingBox;
/**
* @brief List of boundingBox information.
*/
typedef struct {
uint8_t boxCount;
T_DjiLiveViewBoundingBox boxData[1];
} __attribute__((packed)) T_DjiLiveViewStandardMetaData;
/**
* @brief Image information.
*/
typedef struct {
E_DjiLiveViewPixFormate pixFmt;
uint16_t width;
uint16_t height;
uint32_t frameId;
} T_DjiLiveviewImageInfo;
/**
* @brief Liveview camera h264 stream callback.
*/
typedef void (*DjiLiveview_H264Callback)(E_DjiLiveViewCameraPosition position, const uint8_t *buf, uint32_t len);
/**
* @brief Liveview camera image data callback.
*/
typedef void (*DjiLiveview_ImageCallback)(E_DjiLiveViewCameraPosition position, const uint8_t *buf,
uint32_t len , T_DjiLiveviewImageInfo ImageInfo);
/**
* @brief Callback for handling encoded output data
*/
typedef void (*DjiLiveview_EncoderCallback)(const uint8_t *buf, uint32_t len);
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the liveview module.
@ -125,6 +216,81 @@ T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position,
T_DjiReturnCode DjiLiveview_RequestIntraframeFrameData(E_DjiLiveViewCameraPosition position,
E_DjiLiveViewCameraSource source);
/**
* @brief Request to get the decoded image data from the specified position.
* @param position: Camera position for the H264 stream.
* @param source: sub-camera source for the H264 stream.
* @param pixFmt: Requested Image Format.
* @param callback: Callback for handling image data.
* @return Execution result.
* @note This interface support on DJI manifold3.
*/
T_DjiReturnCode DjiLiveview_StartImageStream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source,
E_DjiLiveViewPixFormate pixFmt, DjiLiveview_ImageCallback callback);
/**
* @brief Stop the decoded image data from the specified position.
* @param position: Camera position for the H264 stream.
* @param source: sub-camera source for the H264 stream.
* @return Execution result.
* @note This interface support on DJI manifold3.
*/
T_DjiReturnCode DjiLiveview_StopImageStream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
/**
* @brief Registering encoder callback handlers.
* @return Execution result.
* @note This interface support on DJI manifold3.
*/
T_DjiReturnCode DjiLiveview_RegEncoderCallback(DjiLiveview_EncoderCallback callback);
/**
* @brief Unregistering encoder callback handlers.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_UnregEncoderCallback();
/**
* @brief Encoding image into h264 streams.
* @param buf: raw data of image.
* @param len: length of image data.
* @param imageInfo: information of image.
* @param metaData: Resulting information obtained from images for target recognition.
* @return Execution result.
* @note If there is no need for information related to target identification, fill in NULL for metaData.
* @note This interface needs to be used after DjiLiveview_RegEncoderCallback.
* @note This interface support on DJI manifold3.
*/
T_DjiReturnCode DjiLiveview_EncodeAFrameToH264(const uint8_t *buf, uint32_t len, T_DjiLiveviewImageInfo imageInfo,
T_DjiLiveViewStandardMetaData *metaData);
/**
* @brief Register user-defined target Lables
* @param lableCount: Number of lable.
* @param labels: lable String Array
* @note The key-value pairs of lable and index will be recorded on the Pilot after registration
* and will be used to parse the metaData and display the lable when rendering the boundingbox.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_RegUserAiTargetLableList(uint8_t lableCount,const char *labels[]);
/**
* @brief Unregister user-defined target Lables
* @return Execution result.
* @note This interface support on DJI manifold3.
*/
T_DjiReturnCode DjiLiveview_UnregUserAiTargetLableList();
/**
* @brief Transmits the result information of the target recognition to the pilot for display.
* @param metaData: Resulting information obtained from images for target recognition.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_SendAiMetaToPilot(T_DjiLiveViewStandardMetaData *metaData);
#ifdef __cplusplus
}
#endif

18
psdk_lib/include/dji_logger.h
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@ -102,14 +102,24 @@ T_DjiReturnCode DjiLogger_RemoveConsole(T_DjiLoggerConsole *console);
void DjiLogger_UserLogOutput(E_DjiLoggerConsoleLogLevel level, const char *fmt, ...);
/* Exported constants --------------------------------------------------------*/
#define __FILENAME__ (strrchr("/" __FILE__, '/') + 1)
#define USER_LOG_PREFIX_FMT "%25s:%-4d "
#ifndef SYSTEM_ARCH_RTOS
#define USER_LOG_PREFIX_ARG __FILENAME__, __LINE__
#else
#define USER_LOG_PREFIX_ARG __FUNCTION__, __LINE__
#endif
#define USER_LOG_DEBUG(fmt, ...) \
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_DEBUG, USER_LOG_PREFIX_FMT fmt, USER_LOG_PREFIX_ARG, ##__VA_ARGS__)
#define USER_LOG_INFO(fmt, ...) \
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO, USER_LOG_PREFIX_FMT fmt, USER_LOG_PREFIX_ARG, ##__VA_ARGS__)
#define USER_LOG_WARN(fmt, ...) \
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_WARN, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_WARN, USER_LOG_PREFIX_FMT fmt, USER_LOG_PREFIX_ARG, ##__VA_ARGS__)
#define USER_LOG_ERROR(fmt, ...) \
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_ERROR, "[%s:%d) " fmt, __FUNCTION__, __LINE__ , ##__VA_ARGS__)
DjiLogger_UserLogOutput(DJI_LOGGER_CONSOLE_LOG_LEVEL_ERROR, USER_LOG_PREFIX_FMT fmt, USER_LOG_PREFIX_ARG, ##__VA_ARGS__)
#ifdef __cplusplus
}

389
psdk_lib/include/dji_open_ar.h Normal file
View File

@ -0,0 +1,389 @@
/**
********************************************************************
* @file dji_open_ar.h
* @brief This is the header file for "dji_open_ar.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 DJI_OPEN_AR_H
#define DJI_OPEN_AR_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
typedef struct
{
float longitude;
float latitude;
float altitude;
} T_DjiOpenArCoordinate;
/**
* @brief Text information definition
*/
typedef struct
{
uint8_t is_show:1; /*!< Whether to display, 0: not display, 1: display */
uint8_t text[30]; /*!< Text information, with '\0' as the terminator */
} T_DjiOpenArTextAttribute;
typedef struct
{
uint8_t selected:1; /*!< Whether selected, 0: not selected, 1: selected */
uint8_t visible :1; /*!< Whether to display, 0: not display, 1: display */
uint32_t color; /*!< Contains alpha channel */
} T_DjiOpenArIconAttribute;
/**
* @brief Click action for a point
*/
typedef struct
{
uint8_t action; /*!< 0: click; 1: drag along the line; 2: drag from a distance */
T_DjiOpenArCoordinate normal_vector; /*!< Dragging direction: normal vector */
} T_DjiOpenArTouchAttribute;
/**
* @brief Represents the unique identifier for AR elements
*/
typedef struct
{
uint32_t uuid; /*!< uuid used for updating and deleting */
uint32_t style_id; /*!< used to index resources config, corresponding resource is configured in widget.json */
} T_DjiOpenArIds;
/**
* @brief AR face drawing attributes
*/
typedef struct
{
uint8_t dist_alpha_enable :1; /*!< Enable distance-based alpha blending (1) or not (0) */
uint8_t face_bottom_enable:1; /*!< Enable drawing bottom face (1) or not (0) */
uint8_t face_side_enable :1; /*!< Enable drawing side face (1) or not (0) */
uint8_t face_top_enable :1; /*!< Enable drawing top face (1) or not (0) */
} T_DjiOpenArPolygonFaceAttribute;
/**
* @brief AR border drawing attributes
*/
typedef struct
{
uint8_t top_show :1;
uint8_t top_dist_alpha_enable :1;
uint8_t side_show :1;
uint8_t side_dist_alpha_enable :1;
uint8_t bottom_show :1;
uint8_t bottom_dist_alpha_enable:1;
} T_DjiOpenArPolygonStrokeAttribute;
/**
* @brief AR pint drawing attibutes
*/
typedef struct
{
uint32_t uuid; /*!< uuid for point , used to updating and delting */
uint32_t style_id; /*!< dentifier for the style associated with the point, define with widget.json */
uint32_t resource_id; /*!< Identifier for the resource associated with the point */
uint8_t is_always_in_edge; /*!< Whether the point is always on the edge */
T_DjiOpenArCoordinate coordinate; /*!< Physical position in the world coordinate system */
T_DjiOpenArTextAttribute text_attr; /*!< Attributes related to the text associated with the point */
T_DjiOpenArIconAttribute icon_attr; /*!< Attributes related to the icon associated with the point */
T_DjiOpenArTouchAttribute touch_attr; /*!< Attributes related to touch interactions with the point */
} T_DjiOpenArPoint;
/**
* @brief Array of points
*/
typedef struct
{
uint32_t len; /*!< Length of the array (number of points) */
T_DjiOpenArPoint points[0]; /*!< 0 length implies dynamic allocation */
} T_DjiOpenArPointArray;
/**
* @biref AR Drawing Line
*/
typedef struct
{
T_DjiOpenArIds ids; /*!< uuids for the AR line */
T_DjiOpenArPointArray point_array; /*!< Array of points defining the line */
} T_DjiOpenArLine;
/**
* @brief AR Drawing Polygon
*/
typedef struct
{
T_DjiOpenArIds ids; /*!< Unique identifiers for the AR polygon */
T_DjiOpenArCoordinate normal_vector; /*!< Normal vector of the polygon surface */
T_DjiOpenArPolygonFaceAttribute face; /*!< Face attributes of the polygon */
T_DjiOpenArPolygonStrokeAttribute stroke; /*!< Stroke attributes of the polygon */
T_DjiOpenArPointArray point_array; /*!< Array of points defining the polygon */
} T_DjiOpenArPolygon;
/**
* @brief AR Drawing Circle
*/
typedef struct
{
T_DjiOpenArIds ids; /*!< Unique identifiers for the AR circle */
float radius; /*!< Radius of the circle */
T_DjiOpenArCoordinate center; /*!< Center coordinates of the circle */
T_DjiOpenArCoordinate normal_vector; /*!< Normal vector of the circle's surface */
T_DjiOpenArPolygonFaceAttribute face; /*!< Face attributes of the circle */
T_DjiOpenArPolygonStrokeAttribute stroke; /*!< Stroke attributes of the circle */
} T_DjiOpenArCircle;
/**
* @brief AR Drawing 3D Cone Pivot Axis
*/
typedef struct
{
T_DjiOpenArIds ids; /*!< Unique identifiers for the 3D cone */
uint8_t show_enable; /*!< Flag indicating if the cone should be displayed (1) or not (0) */
T_DjiOpenArCoordinate pivot; /*!< Center point of the cone */
T_DjiOpenArCoordinate normal_vector; /*!< Normal vector for the cone's surface */
} T_DjiOpenArPivotAxis;
/**
* @brief eletion Entry for Specified Point, Face, Line, etc.
*/
typedef struct
{
uint32_t resource_id; /*!< Resource ID for the element to be deleted */
uint32_t uuid_len; /*!< Length of the UUID array */
uint32_t uuid_array[0]; /*!< Array of UUIDs to identify the elements to be deleted */
} T_DjiOpenArDeletePointEntry;
typedef struct
{
uint32_t uuid;
} T_DjiOpenArDeleteCommonEntry;
/**
* @brief Typedef for deletion of line entries
*/
typedef T_DjiOpenArDeleteCommonEntry T_DjiOpenArDeleteLineEntry;
/**
* @brief Typedef for deletion of polygon entries
*/
typedef T_DjiOpenArDeleteCommonEntry T_DjiOpenArDeletePolygonEntry;
/**
* @brief Typedef for deletion of circle entries
*/
typedef T_DjiOpenArDeleteCommonEntry T_DjiOpenArDeleteCircleEntry;
/**
* @brief Typedef for deletion of pivot axis entries
*/
typedef T_DjiOpenArDeleteCommonEntry T_DjiOpenArDeletePovixAxisEntry;
/**
* @brief Set the ar point.
* @param metaData: the information for Ar point.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArSetPoint(const T_DjiOpenArPointArray* entry);
/**
* @brief Update the ar point.
* @param metaData: the information for Ar point.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArUpdatePoint(const T_DjiOpenArPointArray* entry);
/**
* @brief Delete the ar point
* @param metaData: the information for Ar point.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArDeletePoint(const T_DjiOpenArDeletePointEntry* entry);
/**
* @brief Clear the ar point
* @param metaData: the resource id for Ar point.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArClearPoint(uint32_t resource_id);
/**
* @brief Set the ar line
* @param metaData: the ar line information for setting.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArSetLine(const T_DjiOpenArLine* entry);
/**
* @brief Update the ar line
* @param metaData: The ar line information
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArUpdateLine(const T_DjiOpenArLine* entry);
/**
* @brief Delete the ar line
* @param metaData: The ar line entry for delete
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArDeleteLine(const T_DjiOpenArDeleteLineEntry* entry, uint32_t entry_len);
/**
* @brief Clear the ar line.
* @param metaData: The ar line information for clear.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArClearLine();
/**
* @brief Set the ar polygon.
* @param metaData: The ar polygon information for setting.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArSetPolygon(const T_DjiOpenArPolygon* entry);
/**
* @brief Update the ar polygon.
* @param metaData: The ar polygon information for update.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArUpdatePolygon(const T_DjiOpenArPolygon* entry);
/**
* @brief Delete the ar polygon.
* @param metaData: The polygon entry information for delete.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArDeletePolygon(const T_DjiOpenArDeletePolygonEntry* entry, uint32_t entry_len);
/**
* @brief Clear the ar polygon.
* @param metaData: none
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArClearPolygon();
/**
* @brief Set the ar circle.
* @param metaData: The ar circle information for setting.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArSetCircle(const T_DjiOpenArCircle* entry);
/**
* @brief Update the ar circle.
* @param metaData: The ar circle information for update.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArUpdateCircle(const T_DjiOpenArCircle* entry);
/**
* @brief Delete the ar circle.
* @param metaData: The ar circle information for delete.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArDeleteCircle(const T_DjiOpenArDeleteCircleEntry* entry, uint32_t entry_len);
/**
* @brief Clear the ar circle.
* @param metaData: The ar circle information for clear.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArClearCircle();
/**
* @brief Set the pivot axis.
* @param metaData: The pivot axis information for setting.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArSetPivotAxis(const T_DjiOpenArPivotAxis* entry);
/**
* @brief Update the pivot axis.
* @param metaData: The pivot axis information for update.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArUpdatePivotAxis(const T_DjiOpenArPivotAxis* entry);
/**
* @brief Delete the pivot axis.
* @param metaData: The pivot axis information for delete.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArDeletePivotAxis(const T_DjiOpenArDeletePovixAxisEntry* entry, uint32_t entry_len);
/**
* @brief Clear the pivot axis.
* @param metaData: none
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArClearPivotAxis();
/**
* @brief Once entering this callback it is necessary to reflesh all AR drawings.
* @param metaData: none
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
typedef void (*DjiLiveview_ArRefleshAllCallback)(void);
/**
* @brief Register the ar refresh function.
* @param metaData: The ar reflesh callback function.
* @note This interface support on DJI manifold3.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_ArRegRefleshAllCallback(DjiLiveview_ArRefleshAllCallback callback);
#ifdef __cplusplus
}
#endif
#endif // DJI_OPEN_AR_H

4
psdk_lib/include/dji_payload_camera.h
View File

@ -173,6 +173,8 @@ typedef struct {
bool isShootingIntervalStart; /*!< Specifies if the camera is in interval shooting start status. This parameter is boolean type. */
uint16_t currentPhotoShootingIntervalTimeInSeconds; /*!< Specifies the current interval shoot countdown time, the value is decreasing,
* when the value equals to zero trigger the interval take photo, uint:s. */
uint16_t currentPhotoShootingIntervalTimeInMs; /*!< Specifies the current interval shoot countdown time of millisecond part, the value is decreasing,
* when the value equals to zero trigger the interval take photo, uint:ms. */
uint16_t currentPhotoShootingIntervalCount; /*!< Specifies the current interval photo count, the value is decreasing step by one from
* the setted count when interval taking photo */
bool isRecording; /*!< Specifies if the camera is in recording status. This parameter is boolean type. */
@ -841,7 +843,7 @@ T_DjiReturnCode DjiPayloadCamera_RegMediaDownloadPlaybackHandler(const T_DjiCame
* @param len: length of data to be sent via data stream, and it must be less than or equal to 65000, unit: byte.
* @return Execution result.
*/
T_DjiReturnCode DjiPayloadCamera_SendVideoStream(const uint8_t *data, uint16_t len);
T_DjiReturnCode DjiPayloadCamera_SendVideoStream(const uint8_t *data, uint32_t len);
/**
* @brief Get data transmission state of "videoStream" channel. User can use the state as base for controlling data

248
psdk_lib/include/dji_perception.h
View File

@ -39,6 +39,8 @@ extern "C" {
#define DJI_PERCEPTION_INTRINSICS_PARAM_ARRAY_NUM 9
#define DJI_PERCEPTION_ROTATION_PARAM_ARRAY_NUM 9
#define DJI_PERCEPTION_TRANSLATION_PARAM_ARRAY_NUM 3
#define DJI_PTS_NUM_PER_PKG 96
#define DJI_LIDAR_PKG_BUFFER_NUM 564
/* Exported types ------------------------------------------------------------*/
/**
@ -71,6 +73,19 @@ typedef enum {
RECTIFY_RIGHT_RIGHT = 26
} E_DjiPerceptionCameraPosition;
/**
* @bref Perception radar design location
*/
typedef enum {
RADAR_POSITION_LEFT = 0,
RADAR_POSITION_RIGHT = 1,
RADAR_POSITION_DOWN =2,
RADAR_POSITION_UP = 3,
RADAR_POSITION_FRONT = 4,
RADAR_POSITION_BACK =5,
MAX_RADAR_NUM = 6,
}E_DjiPerceptionRadarPosition;
#pragma pack(1)
/**
* @bref Perception camera ram image info
@ -114,14 +129,217 @@ typedef struct {
uint32_t directionNum;
T_DjiPerceptionCameraParameters cameraParameters[IMAGE_MAX_DIRECTION_NUM];
} T_DjiPerceptionCameraParametersPacket;
/**
* @bref Perception Lidar data point info
*/
typedef struct{
float x; /*!< unit: meters */
float y; /*!< unit: meters */
float z; /*!< unit: meters */
uint8_t intensity;
uint8_t label; /*!< Noise filtering results (0: obj; 1: noise; 2: unknow; 3: not_retuen ) */
} T_DJIPerceptionLidarPoint;
/**
* @bref Perception Lidar data header of each pkg
*/
typedef struct{
uint16_t timeInterval; /*!< The point cloud sampling time (in 0.1us) */
uint16_t dotNum; /*!< Current packet data field contains the number of points This field is not valid for non-repeat scans*/
uint8_t dataType; /** dataType
*
* Bit Position (7-4) | Field Name | Description | Remarks
* ------------------ | ------------ | -------------------- | -------------------------------------------------
* 4-7 | echo_mode | Echo Mode | 0: Single echo mode
* | | | 1: Dual echo mode
* | | | 2: Triple echo mode
* | | | 3: Quadruple echo mode
* | | | 4: Quintuple echo mode
*
* Bit Position (3-0) | Field Name | Description | Remarks
* ------------------ | ------------ | -------------------- | -------------------------------------------------
* 0-3 | data_type | Data Type | 40: IMU Data
* | | | 1: Point cloud data (rectangular, 32-bit)
* | | | 2: Point cloud data (rectangular, 16-bit default)
* | | | 3: Point cloud data (spherical)
* | | | 4: Point cloud data (rectangular, 20-bit, in use)
*/
uint8_t timeType; /** timeType
* Timestamp Type | Sync Source Type | Data Format | Description
* -------------- | ------------------- | ------------- | -------------------------------------------------
* 0 | No sync source, | uint64_t | Timestamp is radar uptime, unit: ns
* | | |
* 1 | gPTP/PTP sync, | uint64_t | Timestamp is master clock source time, unit: ns
* | | |
* 2 | PPS + ns time sync | uint64_t | Unit: ns
* | | |
* 3 | PPS + UTC | uint64_t | UTC format is:
* | | struct | struct {
* | | | uint8_t year;
* | | | uint8_t mon;
* | | | uint8_t day;
* | | | uint8_t hour;
* | | | uint32_t us_offset;
* | | | };
*/
uint64_t timeStamp;
}T_DJIPerceptionLidarDataHeader;
/**
* @bref Perception Lidar data pkg
*/
typedef struct{
T_DJIPerceptionLidarDataHeader header;
T_DJIPerceptionLidarPoint points[DJI_PTS_NUM_PER_PKG];
}T_DjiPerceptionLidarDecodePkg;
/**
* @bref Perception Lidar data frame
*/
typedef struct{
uint64_t timeStampNs; /*!< Timestamp of the first point of each packet */
uint32_t frameCnt; /*!< in increasing order from zero */
uint16_t pkgNum; /*!< Number of valid pkgs per frame */
T_DjiPerceptionLidarDecodePkg pkgs[DJI_LIDAR_PKG_BUFFER_NUM];
uint32_t poseTimeMs;
uint16_t naviFlag; /** naviFlag:
* Bit Position | Field Name | Description | Remarks
* ------------ | ---------- | ------------------------------------------------ | -----------------------------------
* 0 | vel_x | Horizontal x-axis velocity valid bit (1 valid) | 1 - valid, 0 - invalid
* 1 | vel_y | Horizontal y-axis velocity valid bit (1 valid) | 1 - valid, 0 - invalid
* 2 | vel_z | Vertical velocity valid bit (1 valid) | 1 - valid, 0 - invalid
* 3 | pos_x | Horizontal x-axis position valid bit (1 valid) | 1 - valid, 0 - invalid
* 4 | pos_y | Horizontal y-axis position valid bit (1 valid) | 1 - valid, 0 - invalid
* 5 | pos_z | Vertical position valid bit (1 valid) | 1 - valid, 0 - invalid
* 6 | dwn_vz | Ground speed valid bit (1 valid) | 1 - valid, 0 - invalid
* 7 | dwn_pz | Ground elevation valid bit (1 valid) | 1 - valid, 0 - invalid
* 8 | rtk_pxy | RTK horizontal valid flag (1 valid) | 1 - valid, 0 - invalid
* 9 | rtk_pz | RTK vertical valid flag (1 valid) | 1 - valid, 0 - invalid
* 10 | gns_ll | GPS horizontal valid flag (1 valid) | 1 - valid, vertical direction always invalid
* 11 | fg_ok | FG estimate OK flag (1 valid) | 1 - valid, 0 - invalid
* 12-15 | fg_st | FG mode (4 bits) | Modes:
* | | | 0 - Random initialization
* | | | 1 - Initialization with poor compass
* | | | 2 - Initialization with good compass
* | | | 3 - Magnetic inclination compensation
* | | | 4 - Compass fix during takeoff
* | | | 5 - Compass fix in the air
* | | | 6 - Compass calibration fix
* | | | 7 - Accelerometer alignment
* | | | 8 - Speed alignment
* | | | 9 - RTK heading alignment
*/
float naviPos[3]; /*!< UAV IMU to navigation coordinate system translation vector (xyz) */
float naviQuat[4]; /*!< Quaternions from UAV IMU to navigation coordinate system */
}T_DjiLidarFrame;
/**
* @bref Radar data frame header
*/
typedef struct {
uint16_t dataLen;
uint8_t curPack; /*!< The current packet number, in the range of [1, pack_num]. */
uint8_t packNum; /*!< Total number of current circle packets, starting from 1. */
} T_DjiRadarDataHeader;
/**
* @bref Radar information structure
*/
typedef struct {
uint64_t velocity :16; /**
* Calculating the actual velocity:
*
* Actual velocity (m/s) = (Velocity - 32767) / 100
*
* Interpreting the results:
* - If the result is > 0, it indicates that the object is moving closer to the target.
* - If the result is < 0, it indicates that the object is moving away from the target.
*/
uint64_t snr :7; /*!< target SNR, in db, ranging from 0 to 127, with 0 being the null point or no echo point
(base_noise calculation base_noise = energy / snr) */
uint64_t beamAngle:10; /**
* Beam emission angle value:
* - Unit: 0.01 degrees
* - Stored range: 0~1023
* - Actual value range: [-45°, 45°]
*
* Conversion method:
* - Divide stored value x by 10
* - If x ≤ 450, the angle remains unchanged
* - If x > 450, the angle is adjusted by subtracting 90
*
* Examples:
* - Stored value of 449 yields an angle of 44.9° (449/10 = 44.9°)
* - Stored value of 451 yields an angle of -44.9° (451/10 - 90 = -44.9°)
* invalid in M400
*/
uint64_t radarType:3; /*!< Radar numbe,is invalid in M400*/
uint64_t clitterFlag:1; /*!< Flag for clutter point in planar radar: 1 indicates a clutter point, 0 indicates a valid point */
uint64_t reserved :27;
} T_DjiRadarBaseInfo;
/**
* @bref The single point data structure of millimeter wave radar
*/
typedef struct {
uint16_t azimuth; /*!
* Target azimuth in radar coordinate system:
* - Unit: 0.001 radian
* - Value range: (0 to 2π) / 0.001
* - Calculation method (azimuth/1000 - 2π)
*/
uint16_t elevation; /*!
* Target pitch angle in radar coordinate system:
* - Unit: 0.001 radian
* - Value range: (0 to 2π) / 0.001
* - Calculation method (elevation/1000 - 2π)
*/
uint16_t radius; /*!
* Target radial distance in radar coordinate system:
* - Unit: 0.01 meters
* - Value range: 0 to 65553 (in steps of 0.01 meters)
*/
uint16_t ene; /*!
* Radar target energy
* - Actual value: energy / 100
* - invalid in M400
*/
T_DjiRadarBaseInfo base_info;
}T_DjiRadarCloudUnit;
/**
* @bref Perception Radar data frame
*/
typedef struct {
T_DjiRadarDataHeader headInfo;
T_DjiRadarCloudUnit data[1];
} T_DjiRadarDataFrame;
#pragma pack()
/**
* @bref Callback type to receive stereo camera image
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
*/
typedef void(*DjiPerceptionImageCallback)(T_DjiPerceptionImageInfo imageInfo, uint8_t *imageRawBuffer,
uint32_t bufferLen);
/**
* @bref Callback type to receive radar data
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
*/
typedef void(*DjiPerceptionRadarCallback)(E_DjiPerceptionRadarPosition radarPosition, uint8_t *radarDataBuffer,
uint32_t bufferLen);
/**
* @bref Callback type to process Lidar data
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
*/
typedef void(*DjiPerceptionLidarDataCallback)(uint8_t* lidarDataBuffer, uint32_t bufferLen);
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the perception module.
@ -147,18 +365,44 @@ T_DjiReturnCode DjiPerception_SubscribePerceptionImage(E_DjiPerceptionDirection
/**
* @brief Unsubscribe the raw image of both stereo cameras in the same direction.
* @param direction: direction to specify the direction of the subscription. Ref to E_DjiPerceptionDirection
* @param direction: direction to specify the direction of the subscription. Ref to E_DjiPerceptionDirection.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_UnsubscribePerceptionImage(E_DjiPerceptionDirection direction);
/**
* @brief Get the internal and external parameters of all stereo cameras.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_GetStereoCameraParameters(T_DjiPerceptionCameraParametersPacket *packet);
/**
* @brief Subscribe the lidar data.
* @param callback: callback to observer the radar data.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_SubscribeLidarData(DjiPerceptionLidarDataCallback callback);
/**
* @brief Unsubscribe the lidar data.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_UnsubscribeLidarData(void);
/**
* @brief Subscribe the lidar data of the position.
* @param position: position the radar monted
* @param callback callback to observer the radar data.
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_SubscribeRadarData(E_DjiPerceptionRadarPosition position, DjiPerceptionRadarCallback callback);
/**
* @brief Unsubscribe the lidar data of the position.
* @param position: position the radar monted
* @return Execution result.
*/
T_DjiReturnCode DjiPerception_UnsubscribeRadarData(E_DjiPerceptionRadarPosition position);
#ifdef __cplusplus
}
#endif

13
psdk_lib/include/dji_platform.h
View File

@ -109,6 +109,7 @@ typedef enum {
typedef enum {
DJI_HAL_USB_BULK_NUM_0 = 0,
DJI_HAL_USB_BULK_NUM_1,
DJI_HAL_USB_BULK_NUM_2,
DJI_HAL_USB_BULK_NUM_MAX,
} E_DjiHalUsbBulkNum;
@ -138,6 +139,11 @@ typedef struct {
bool isDir;
} T_DjiFileInfo;
typedef struct {
uint16_t pid;
uint16_t vid;
} T_DjiHalUartDeviceInfo;
typedef struct {
T_DjiReturnCode (*UartInit)(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
@ -148,6 +154,13 @@ typedef struct {
T_DjiReturnCode (*UartReadData)(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode (*UartGetStatus)(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
/**
* Get the device info of USB uart (virtual com or TTL-To-USB) which directly connected to UAV.
* Use for SDK adapter type Eport V2 ribbon cable.
* When using other types of interface, it is not necessary to implement this member function.
*/
T_DjiReturnCode (*UartGetDeviceInfo)(T_DjiHalUartDeviceInfo *deviceInfo);
} T_DjiHalUartHandler;
typedef struct {

26
psdk_lib/include/dji_power_management.h
View File

@ -45,6 +45,12 @@ typedef enum {
DJI_POWER_MANAGEMENT_PIN_STATE_SET = 1, /*!< Specifies pin is in high level state. */
} E_DjiPowerManagementPinState;
typedef enum {
E_DJI_HIGH_POWER_VOLTAGE_13V6 = 0, /*!< Specifies pin is in 13.6V of voltage */
E_DJI_HIGH_POWER_VOLTAGE_17V = 1, /*!< Specifies pin is in 17V of voltage */
E_DJI_HIGH_POWER_VOLTAGE_24V = 2, /*!< Specifies pin is in 24V of voltage */
} E_DjiHighPowerVoltage;
/**
* @brief Prototype of callback function used to set level of high power application pin.
* @param pinState: level state of pin to be set.
@ -87,6 +93,17 @@ T_DjiReturnCode DjiPowerManagement_DeInit(void);
*/
T_DjiReturnCode DjiPowerManagement_ApplyHighPowerSync(void);
/**
* @brief Apply high power from aircraft in blocking mode.
* @details Before applying, user should register callback function used to set level state of high power application
* pin using DjiPowerManagement_RegWriteHighPowerApplyPinCallback() function. After applying high power, power pin of
* DJI adapter will output high power based predetermined specification.
* @note Max execution time of this function is slightly larger than 600ms.
* @param voltage: The voltage value will be applied to the VCC pin.
* @return Execution result.
*/
T_DjiReturnCode DjiPowerManagement_ApplyHighPowerSyncV2(E_DjiHighPowerVoltage voltage);
/**
* @brief Register callback function used to set level state of high power application pin. Must be called before
* applying high power.
@ -108,6 +125,15 @@ T_DjiReturnCode DjiPowerManagement_RegWriteHighPowerApplyPinCallback(DjiWriteHig
*/
T_DjiReturnCode DjiPowerManagement_RegPowerOffNotificationCallback(DjiPowerOffNotificationCallback callback);
/**
* @brief manifold3 outputs high voltage to external devices
* @param stat: true: output high voltage, false: output low voltage
* @return Execution result.
* @note The gpio12 of manifold3 should be pulled down before requesting a high voltage output.
* @note This interface support on DJI manifold3.
*/
T_DjiReturnCode DjiPowerManagement_OutputHighPower(bool stat);
#ifdef __cplusplus
}
#endif

77
psdk_lib/include/dji_tethered_battery.h Normal file
View File

@ -0,0 +1,77 @@
/**
********************************************************************
* @file dji_tethered_battery.h
* @brief This is the header file for "dji_tethered_battery.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2024 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 DJI_TETHERED_BATTERY_H
#define DJI_TETHERED_BATTERY_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/**
* @brief Tether line status.
*/
typedef struct {
dji_f32_t totalLength; /*!< total length of tether line, range: 0-300, unit: meters. */
dji_f32_t usedLength; /*!< used length of tether line, range: 0-300, unit: meters.
This value must be less than or equal to the total length of tether line. */
} T_DjiTetherLineStatus;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise tethered battery module
* @note User should call this function before using tethered battery features.
* @return Execution result.
*/
T_DjiReturnCode DjiTetheredBattery_Init(void);
/**
* @brief DeInitialize tethered battery module.
* @return Execution result.
*/
T_DjiReturnCode DjiTetheredBattery_DeInit(void);
/**
* @brief Push the real-time tether line length to the Pilot2 for display.
* @note It is recommended that the push frequency does not exceed the data update frequency. The maximum push
* frequency should not exceed 10Hz.
* @param tetherLineStatus: the tether line status.
* @return Execution result.
*/
T_DjiReturnCode DjiTetheredBattery_PushTetherLineStatus(T_DjiTetherLineStatus tetherLineStatus);
#ifdef __cplusplus
}
#endif
#endif // DJI_TETHERED_BATTERY_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

38
psdk_lib/include/dji_typedef.h
View File

@ -44,6 +44,7 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
#define DJI_PI (3.14159265358979323846f)
#define DJI_FILE_NAME_SIZE_MAX 256
#define DJI_FILE_MD5_LENGTH 16
#define DJI_FILE_PATH_SIZE_MAX (DJI_FILE_NAME_SIZE_MAX + 256)
#define DJI_IP_ADDR_STR_SIZE_MAX 16
#define DJI_MD5_BUFFER_LEN 16
@ -58,6 +59,12 @@ extern "C" {
(((((uint32_t)(subscriptionModule)) << (DJI_SUBSCRIPTION_MODULE_INDEX_OFFSET)) & (DJI_SUBSCRIPTION_MODULE_INDEX_MASK)) | \
((((uint32_t)(topicCode)) << (DJI_SUBSCRIPTION_TOPIC_CODE_OFFSET)) & (DJI_SUBSCRIPTION_TOPIC_CODE_MASK)))
#define DJI_DATA_SUBSCRIPTION_TOPIC_GET_MODULE(topic) \
((uint32_t)((topic & DJI_SUBSCRIPTION_MODULE_INDEX_MASK) >> DJI_SUBSCRIPTION_MODULE_INDEX_OFFSET))
#define DJI_DATA_SUBSCRIPTION_TOPIC_GET_CODE(topic) \
((uint32_t)((topic & DJI_SUBSCRIPTION_TOPIC_CODE_MASK) >> DJI_SUBSCRIPTION_TOPIC_CODE_OFFSET))
/**
* @brief Type define double as dji_f64_t.
*/
@ -77,6 +84,8 @@ typedef enum {
DJI_MOUNT_POSITION_TYPE_PAYLOAD_PORT = 1,
DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT = 2,
DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT = 3,
DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT_V2 = 4,
DJI_MOUNT_POSITION_TYPE_MANIFOLD3_ONBOARD = 5,
} E_DjiMountPositionType;
typedef enum {
@ -84,8 +93,15 @@ typedef enum {
DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 = 1,
DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 = 2,
DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3 = 3,
DJI_MOUNT_POSITION_EXTENSION_PORT = 4,
DJI_MOUNT_POSITION_EXTENSION_LITE_PORT = 5,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO1 = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO2 = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO3 = DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO4 = 4,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO5 = 5,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO6 = 6,
DJI_MOUNT_POSITION_EXTENSION_PORT_V2_NO7 = 7,
DJI_MOUNT_POSITION_EXTENSION_PORT,
DJI_MOUNT_POSITION_EXTENSION_LITE_PORT,
} E_DjiMountPosition;
typedef enum {
@ -98,7 +114,8 @@ typedef enum {
DJI_AIRCRAFT_SERIES_M3D = 6,
DJI_AIRCRAFT_SERIES_FC30 = 7,
DJI_AIRCRAFT_SERIES_M4 = 8,
DJI_AIRCRAFT_SERIES_M4D = 9,
DJI_AIRCRAFT_SERIES_M4D = 9,
DJI_AIRCRAFT_SERIES_M400 = 10,
} E_DjiAircraftSeries;
typedef enum {
@ -115,10 +132,11 @@ typedef enum {
DJI_AIRCRAFT_TYPE_M350_RTK = 89, /*!< Aircraft type is Matrice 350 RTK. */
DJI_AIRCRAFT_TYPE_M3D = 91, /*!< Aircraft type is Matrice 3D. */
DJI_AIRCRAFT_TYPE_M3TD = 93, /*!< Aircraft type is Matrice 3TD. */
DJI_AIRCRAFT_TYPE_M4T = 99, /*!< Aircraft type is Mavic 4T. */
DJI_AIRCRAFT_TYPE_M4E = 990, /*!< Aircraft type is Mavic 4E. */
DJI_AIRCRAFT_TYPE_M4T = 99, /*!< Aircraft type is Matrice 4T. */
DJI_AIRCRAFT_TYPE_M4E = 990, /*!< Aircraft type is Matrice 4E. */
DJI_AIRCRAFT_TYPE_M4TD = 100, /*!< Aircraft type is Matrice 4TD. */
DJI_AIRCRAFT_TYPE_M4D = 1000, /*!< Aircraft type is Matrice 4D. */
DJI_AIRCRAFT_TYPE_M400 = 103, /*!< Aircraft type is Matrice 400. */
} E_DjiAircraftType;
/**
@ -259,6 +277,8 @@ typedef enum {
DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 = 1, /*!< SDK adapter type is Skyport V2. */
DJI_SDK_ADAPTER_TYPE_XPORT = 2, /*!< SDK adapter type is X-Port. */
DJI_SDK_ADAPTER_TYPE_NONE = 3, /*!< don't have any adapter outside */
DJI_SDK_ADAPTER_TYPE_SKYPORT_V3 = 4, /*!< SDK adapter type is Skyport V3 */
DJI_SDK_ADAPTER_TYPE_EPORT_V2_RIBBON_CABLE = 5, /*!< SDK adapter type is Eport V2 ribbon cable */
} E_DjiSdkAdapterType;
typedef enum {
@ -266,6 +286,13 @@ typedef enum {
DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1,
DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO2,
DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO3,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO1 = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO2 = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO2,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO3 = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO3,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO4,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO5,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO6,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT_V2_NO7,
DJI_CHANNEL_ADDRESS_EXTENSION_PORT,
DJI_CHANNEL_ADDRESS_MASTER_RC_APP,
DJI_CHANNEL_ADDRESS_SLAVE_RC_APP,
@ -288,6 +315,7 @@ typedef struct {
uint8_t captureCount; /*!< Specifies the total capture count of interval settings.
* 0: reserved, 1-254: specific number, 255: continuous capture until stopped. */
uint16_t timeIntervalSeconds; /*!< Specifies the interval time between two captures, unit: s*/
uint16_t timeIntervalMilliseconds; /*!< Specifies the interval time between two captures, unit: ms*/
} T_DjiCameraPhotoTimeIntervalSettings;
/**

6
psdk_lib/include/dji_version.h
View File

@ -34,10 +34,10 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
#define DJI_VERSION_MAJOR 3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
#define DJI_VERSION_MINOR 11 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MODIFY 1 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
#define DJI_VERSION_MINOR 12 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MODIFY 0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
#define DJI_VERSION_BETA 0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
#define DJI_VERSION_BUILD 2212 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
#define DJI_VERSION_BUILD 2254 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
/* Exported types ------------------------------------------------------------*/

308
psdk_lib/include/dji_widget_manager.h Normal file
View File

@ -0,0 +1,308 @@
/**
********************************************************************
* @file dji_widget_states_manager.h
* @version V1.0.0
* @date 2020/11/26
* @brief This is the header file for "dji_widget_manager.h", 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 DJI_WIDGET_STATES_MANNAGER_H
#define DJI_WIDGET_STATES_MANNAGER_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#include "dji_widget.h"
#include "dji_camera_manager.h"
// #include "downloader/dji_download_file.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define WIDGET_MANAGER_MAX_FILE_NAME_LEN 32
#define WIDGET_MANAGER_MAX_FILE_PATH_LEN 128
/* Exported types ------------------------------------------------------------*/
/**
* @brief Speaker system states.
*/
typedef enum {
DJI_WIDGET_MGR_SPEAKER_SYSTEM_STATE_IDEL = 0,
DJI_WIDGET_MGR_SPEAKER_SYSTEM_STATE_IN_TRANSMISSION = 1,
DJI_WIDGET_MGR_SPEAKER_SYSTEM_STATE_PLAYING = 2,
DJI_WIDGET_MGR_SPEAKER_SYSTEM_STATE_EXCEPTION = 3,
DJI_WIDGET_MGR_SPEAKER_SYSTEM_STATE_IN_TTS_CONVERSION = 4,
} E_DjiWidgetManagerSpeakerStates;
/**
* @brief Speaker parameters.
*/
typedef enum {
DJI_WIDGET_MGR_SPEAKER_PARAM_WORK_MODE = 0, /*!< The working mode fo the speaker */
DJI_WIDGET_MGR_SPEAKER_PARAM_PALY_ACTION = 1, /*!< The playing action of the speaker */
DJI_WIDGET_MGR_SPEAKER_PARAM_VOLUME = 2, /*!< The volume action of the speaker */
DJI_WIDGET_MGR_SPEAKER_PARAM_PLAY_MODE = 3, /*!< The playing mode of the speaker */
DJI_WIDGET_MGR_SPEAKER_PARAM_PLAY_FILE_NAME = 4, /*!<The name of the file to be played */
} E_DjiWidgetManagerSpeakerPram;
/**
* @brief Speaker audio bitrate
*/
typedef enum {
DJI_SPEAKER_WIDGET_AUDIO_DECODE_BITRATE_8000 = 1,
DJI_SPEAKER_WIDGET_AUDIO_DECODE_BITRATE_16000 = 2,
DJI_SPEAKER_WIDGET_AUDIO_DECODE_BITRATE_24000 = 3,
DJI_SPEAKER_WIDGET_AUDIO_DECODE_BITRATE_32000 = 4,
DJI_SPEAKER_WIDGET_AUDIO_DECODE_BITRATE_48000 = 5,
DJI_SPEAKER_WIDGET_AUDIO_DECODE_BITRATE_64000 = 6,
} E_DjiWidgetManagerSpeakerAudoBitrate;
/**
* @brief The type of audio file
*/
typedef enum
{
DJI_SPEAKER_WIDGET_FILE_TYPE_TTS_TXT = 0,
DJI_SPEAKER_WIDGET_FILE_TYPE_OPUS = 1,
DJI_SPEAKER_WIDGET_FILE_TYPE_WAV = 2,
} E_DjiWidgetManagerSpeakerFileType;
/**
* @brief The states of widget.
*/
typedef struct{
E_DjiWidgetType widgetType; /*!< The type fo the widget */
uint8_t widgetIndex; /*!< The index fo the widget */
int32_t widgetValue; /*!< The value fo the widget */
} T_DjiWidgetStates;
/**
* @brief The information of audio file.
*/
typedef struct{
E_DjiWidgetManagerSpeakerFileType fileType; /*!< The type fo the audio file */
E_DjiWidgetManagerSpeakerAudoBitrate fileBitrate; /*!< The bitrate fo the audio file */
uint8_t uuid[WIDGET_MANAGER_MAX_FILE_NAME_LEN]; /*!< The uuid fo the audio file */
uint8_t fileName[WIDGET_MANAGER_MAX_FILE_NAME_LEN]; /*!< The fileName fo the audio file */
uint8_t filePath[WIDGET_MANAGER_MAX_FILE_PATH_LEN]; /*!< The absolute path to the audio file */
} T_DjiSpeakerAudioFileInfo;
/**
* @brief The states of the speaker's widget
*/
typedef struct {
E_DjiWidgetSpeakerWorkMode workMode; /*!< The working mode of the speaker */
E_DjiWidgetSpeakerPlayMode playMode; /*!< The playing mode of the speaker */
uint8_t playVloume; /*!< The vloume of the speaker */
E_DjiWidgetManagerSpeakerStates systemStates; /*!< The system states of the speaker */
uint8_t playFileUuid[WIDGET_MANAGER_MAX_FILE_NAME_LEN]; /*!< The uuid of the playing file */
uint8_t playFileName[WIDGET_MANAGER_MAX_FILE_NAME_LEN]; /*!< The name of the playing file */
uint8_t playQuality; /*!< packet loss per second [0-255] mapped to 0%-100% */
uint8_t actualVolume; /*!< The actual volume of the speaker */
uint8_t limitVolumeOnTheGround; /*!< The limit volume when aircraft is on the ground */
} T_DjiSpeakerWidgetStates;
/**
* @brief Speaker parameters to be set
*/
typedef struct {
E_DjiWidgetManagerSpeakerPram paramType; /*!< Type of speaker parameter to set */
union {
uint8_t value;
uint8_t fileName[32];
}data;
} T_DjiSpeakerWidgetStatesParam;
/**
* @brief Widget file information
*/
typedef struct {
uint32_t fileSize;
uint32_t fileIndex;
char fileName[DJI_FILE_NAME_SIZE_MAX];
} T_DjiWidgetManagerFileInfo;
/**
* @brief The list of widget file information
*/
typedef struct{
uint8_t totalCount;
T_DjiWidgetManagerFileInfo *fileListInfo;
} T_DjiWidgetManagerFileList;
/**
* @brief Widget file download process information
*/
typedef struct {
E_DjiDownloadFileEvent downloadFileEvent; /*!< Download Event Type */
E_DjiMountPosition position; /*!< The position of the payload of the downloaded file */
uint32_t fileIndex;
uint32_t fileSize;
dji_f32_t progressInPercent;
} T_DjiDownloadWidgetFileInfo;
/**
* @brief Type of callback function to receive widget states.
* @param position: The position of the payload from which the widget states comes.
* @param statesData: widgets states of widgets.
* @param widgetNum: Number of widgets.
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
* @return Execution result.
*/
typedef void (*RecvWidgetStatesCallback)(E_DjiMountPosition position, T_DjiWidgetStates *statesData, uint8_t widgetNum);
/**
* @brief Type of callback function to receive speaker widget states.
* @param position: The position of the speaker from which the widget states comes.
* @param statesData: widgets states of speaker.
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
* @return Execution result.
*/
typedef void (*RecvSpeakerStatesCallback)(E_DjiMountPosition position, T_DjiSpeakerWidgetStates *speakerStates);
/**
* @brief Types of callback functions that handle downloading widget file data.
* @param packetInfo: Widget file download process information.
* @param data: Download raw data.
* @param len: length of data.
* @note It is not recommended to perform blocking operations in the callback, as it may lead to data loss.
* @return Execution result.
*/
typedef T_DjiReturnCode (*DjiWidgetDownloadFileDataCallback)(T_DjiDownloadWidgetFileInfo packetInfo,
const uint8_t *data,
uint16_t dataLen);
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the widget manager module.
* @note The interface initialization needs to be after DjiCore_Init.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_Init();
/**
* @brief Denitialize the widget manager module.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_DeInit();
/**
* @brief Subscribe to the widget states of a Payload.
* @param position: the position of the target payload.
* @param recvStatesCallback: the callback function to recv the widget states.
* @note Use this interface to be notified when the states of the target payload's widget changes.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_SubscribePayloadWidgetStates(E_DjiMountPosition position,
RecvWidgetStatesCallback recvStatesCallback);
/**
* @brief Unsubscribe to the widget states of a Payload.
* @param position: the position of the target payload.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_UnsubscribePayloadWidgetStates(E_DjiMountPosition position);
/**
* @brief Set the widge state of the target payload.
* @param position: the position of the target payload.
* @param states: Widget parameters to be set.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_SetWidgetState(E_DjiMountPosition position, T_DjiWidgetStates states);
/**
* @brief Subscribe to the widget states of a speaker.
* @param position: the position of the target speaker.
* @param recvStatesCallback: the callback function to recv the widget states.
* @note Use this interface to be notified when the states of the target speaker's widget changes.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_SubscribeSpeakerStates(E_DjiMountPosition position,
RecvSpeakerStatesCallback recvStatesCallback);
/**
* @brief Unsubscribe to the widget states of a speaker.
* @param position: the position of the target speaker.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_UnsubscribeSpeakerStates(E_DjiMountPosition position);
/**
* @brief Set the widge state of the target speaker.
* @param position: the position of the target payload.
* @param states: Widget parameters to be set.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_SetSpeakertState(E_DjiMountPosition position,
T_DjiSpeakerWidgetStatesParam *states);
/**
* @brief Transferring audio files to speaker.
* @param position: the position of the target speaker.
* @param audioFileInfo: Audio file description information.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_SendSpeakerAudioData(E_DjiMountPosition position,
T_DjiSpeakerAudioFileInfo *audioFileInfo);
/**
* @brief Download the list of widget files for the target payload
* @param position: the position of the target speaker.
* @param fileList: Information on the list of files obtained from the download.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_WidgetDownloadFileList(E_DjiMountPosition position,
T_DjiWidgetManagerFileList *fileList) ;
/**
* @brief Registering callback functions for downloading widget files
* @param position: The position of the target speaker.
* @param recvFileCallback: The callback to receive the downloaded widget file.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_RegDownloadFileDataCallback(E_DjiMountPosition position,
DjiWidgetDownloadFileDataCallback recvFileCallback);
/**
* @brief Unregistering callback functions for downloading widget files.
* @param position: The position of the target speaker.
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_UnRegDownloadFileDataCallback(E_DjiMountPosition position);
/**
* @brief Download the corresponding widget file on the target payload according to the file index.
* @param position: The position of the target speaker.
* @param fileIndex: The index of the file that will be downloaded
* @return Execution result.
*/
T_DjiReturnCode DjiWidgetManager_DownloadFileByIndex(E_DjiMountPosition position, uint32_t fileIndex);
#ifdef __cplusplus
}
#endif
#endif // DJI_WIDGET_STATES_MANNAGER_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/