NEW: add the M30T model stp and esp32 toolchain support

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

psdk_lib/include/dji_camera_manager.h

@@ -471,13 +471,16 @@ typedef struct {
 typedef struct {
     union {
         struct {
-            uint8_t reserved[16];
+            uint32_t attributePhotoReserved: 22;
+            uint32_t attributePhotoRatio: 8;
+            uint32_t attributePhotoRotation: 2;
+            uint8_t reserved[12];
         } photoAttribute;
         struct {
-            uint8_t attributeVideoDuration;
+            uint32_t attributeVideoDuration: 16;
-            uint8_t attributeVideoFramerate;
+            uint32_t attributeVideoFramerate: 6;
-            uint8_t attributeVideoRotation;
+            uint32_t attributeVideoRotation: 2;
-            uint8_t attributeVideoResolution;
+            uint32_t attributeVideoResolution: 8;
             uint8_t reserved[12];
         } videoAttribute;
     };
@@ -488,7 +491,7 @@ typedef struct {
     uint32_t fileSize;
     uint32_t fileIndex;
     T_DjiCameraManagerFileCreateTime createTime;
-    uint8_t type;
+    E_DjiCameraMediaFileType type;
     T_DjiCameraManagerFileAttributeData attributeData;
 } T_DjiCameraManagerFileListInfo;
 

psdk_lib/include/dji_flight_controller.h

@@ -252,6 +252,10 @@ typedef struct {
     dji_f64_t latitude;  /*!< unit: rad */
     dji_f64_t longitude; /*!< unit: rad */
 } T_DjiFlightControllerHomeLocation; // pack(1)
+
+typedef struct {
+    char serialNum[16];
+} T_DjiFlightControllerGeneralInfo;
 #pragma pack()
 
 /* Exported functions --------------------------------------------------------*/
@@ -585,6 +589,14 @@ T_DjiReturnCode DjiFlightController_ExecuteEmergencyBrakeAction(void);
  */
 T_DjiReturnCode DjiFlightController_CancelEmergencyBrakeAction(void);
 
+/**
+ * @brief Get general info of the aircraft.
+ * @param generalInfo: the struct stored the serial num which contains a array of chars var in case the user gives an
+ * illegal length character pointer
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFlightController_GetGeneralInfo(T_DjiFlightControllerGeneralInfo *generalInfo);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_liveview.h

@@ -53,10 +53,15 @@ typedef enum {
 typedef enum {
     DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT = 0,
     DJI_LIVEVIEW_CAMERA_SOURCE_H20_WIDE = 1,
-    DJI_LIVEVIEW_CAMERA_SOURCE_H20T_WIDE = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_H20_ZOOM = 2,
+    DJI_LIVEVIEW_CAMERA_SOURCE_H20T_WIDE = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_H20T_ZOOM = 2,
-    DJI_LIVEVIEW_CAMERA_SOURCE_H20T_IR = 3
+    DJI_LIVEVIEW_CAMERA_SOURCE_H20T_IR = 3,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M30_ZOOM = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M30_WIDE = 2,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M30T_ZOOM = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M30T_WIDE = 2,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M30T_IR = 3
 } E_DjiLiveViewCameraSource;
 
 /**

psdk_lib/include/dji_payload_camera.h

@@ -82,16 +82,6 @@ typedef enum {
     DJI_CAMERA_FOCUS_MODE_AUTO = 1, /*!< Auto focus mode. */
 } E_DjiCameraFocusMode;
 
-/**
- * @brief Camera supported media file type.
- */
-typedef enum {
-    DJI_CAMERA_FILE_TYPE_JPEG = 0, /*!< Media file JPEG type. */
-    DJI_CAMERA_FILE_TYPE_DNG = 1, /*!< Media file DNG type. */
-    DJI_CAMERA_FILE_TYPE_MOV = 2, /*!< Media file MOV type. */
-    DJI_CAMERA_FILE_TYPE_MP4 = 3, /*!< Media file MP4 type. */
-} E_DjiCameraMediaFileType;
-
 /**
  * @brief Camera playback mode in playback process.
  */

psdk_lib/include/dji_typedef.h

@@ -120,6 +120,17 @@ typedef enum {
     DJI_CAMERA_TYPE_M30T, /*!< Camera type is M30T. */
 } E_DjiCameraType;
 
+/**
+ * @brief Camera supported media file type.
+ */
+typedef enum {
+    DJI_CAMERA_FILE_TYPE_JPEG = 0, /*!< Media file JPEG type. */
+    DJI_CAMERA_FILE_TYPE_DNG = 1, /*!< Media file DNG type. */
+    DJI_CAMERA_FILE_TYPE_MOV = 2, /*!< Media file MOV type. */
+    DJI_CAMERA_FILE_TYPE_MP4 = 3, /*!< Media file MP4 type. */
+    DJI_CAMERA_FILE_TYPE_UNKNOWN = 255, /*!< Media file unknown type. */
+} E_DjiCameraMediaFileType;
+
 /**
  * @brief Camera optical zoom specifies.
  */

psdk_lib/include/dji_version.h

@@ -37,7 +37,7 @@ extern "C" {
 #define DJI_VERSION_MINOR     1 /*!< 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     1491 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1500 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp

@@ -90,37 +90,6 @@ void DjiUser_RunCameraStreamViewSample()
         USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
     }
 
-    cout << "Please enter the type of camera stream you want to view\n\n"
-         << "--> [f] Fpv  Camera\n"
-         << "--> [m] Main Camera\n"
-         << "--> [v] Vice Camera\n"
-         << "--> [t] Top Camera\n"
-         << endl;
-    cin >> cameraIndexChar;
-
-    switch (cameraIndexChar) {
-        case 'f':
-        case 'F':
-            liveviewSample->StartFpvCameraStream(&DjiUser_ShowRgbImageCallback, &fpvName);
-            break;
-        case 'm':
-        case 'M':
-            liveviewSample->StartMainCameraStream(&DjiUser_ShowRgbImageCallback, &mainName);
-            break;
-        case 'v':
-        case 'V':
-            liveviewSample->StartViceCameraStream(&DjiUser_ShowRgbImageCallback, &viceName);
-            break;
-        case 't':
-        case 'T':
-            liveviewSample->StartTopCameraStream(&DjiUser_ShowRgbImageCallback, &topName);
-            break;
-        default:
-            cout << "No camera selected";
-            delete liveviewSample;
-            return;
-    }
-
     cout << "Please choose the stream demo you want to run\n\n"
          << "--> [0] Normal RGB image display\n"
          << "--> [1] Binary image display\n"
@@ -148,6 +117,33 @@ void DjiUser_RunCameraStreamViewSample()
             return;
     }
 
+    cout << "Please enter the type of camera stream you want to view\n\n"
+         << "--> [0] Fpv Camera\n"
+         << "--> [1] Main Camera\n"
+         << "--> [2] Vice Camera\n"
+         << "--> [3] Top Camera\n"
+         << endl;
+    cin >> cameraIndexChar;
+
+    switch (cameraIndexChar) {
+        case '0':
+            liveviewSample->StartFpvCameraStream(&DjiUser_ShowRgbImageCallback, &fpvName);
+            break;
+        case '1':
+            liveviewSample->StartMainCameraStream(&DjiUser_ShowRgbImageCallback, &mainName);
+            break;
+        case '2':
+            liveviewSample->StartViceCameraStream(&DjiUser_ShowRgbImageCallback, &viceName);
+            break;
+        case '3':
+            liveviewSample->StartTopCameraStream(&DjiUser_ShowRgbImageCallback, &topName);
+            break;
+        default:
+            cout << "No camera selected";
+            delete liveviewSample;
+            return;
+    }
+
     cout << "Please enter the 'q' or 'Q' to quit camera stream view\n"
          << endl;
 
@@ -159,20 +155,16 @@ void DjiUser_RunCameraStreamViewSample()
     }
 
     switch (cameraIndexChar) {
-        case 'f':
+        case '0':
-        case 'F':
             liveviewSample->StopFpvCameraStream();
             break;
-        case 'm':
+        case '1':
-        case 'M':
             liveviewSample->StopMainCameraStream();
             break;
-        case 'v':
+        case '2':
-        case 'V':
             liveviewSample->StopViceCameraStream();
             break;
-        case 't':
+        case '3':
-        case 'T':
             liveviewSample->StopTopCameraStream();
             break;
         default:

samples/sample_c++/platform/linux/manifold2/application/application.cpp

@@ -42,7 +42,7 @@
 #define DJI_LOG_FOLDER_NAME             "Logs"
 #define DJI_LOG_PATH_MAX_SIZE           (128)
 #define DJI_LOG_FOLDER_NAME_MAX_SIZE    (32)
-#define DJI_LOG_SYSTEM_CMD_MAX_SIZE     (64)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE     (64)
 #define DJI_LOG_MAX_COUNT               (10)
 
 #define USER_UTIL_UNUSED(x)                                 ((x) = (x))
@@ -290,7 +290,7 @@ T_DjiReturnCode Application::DjiUser_LocalWriteFsInit(const char *path)
 {
     T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
     char filePath[DJI_LOG_PATH_MAX_SIZE];
-    char systemCmd[DJI_LOG_SYSTEM_CMD_MAX_SIZE];
+    char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
     char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
     time_t currentTime = time(nullptr);
     struct tm *localTime = localtime(&currentTime);

samples/sample_c++/platform/linux/manifold2/hal/hal_uart.c

@@ -28,7 +28,7 @@
 
 /* Private constants ---------------------------------------------------------*/
 #define UART_DEV_NAME_STR_SIZE             (128)
-#define DJI_SYSTEM_CMD_MAX_SIZE            (64)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE        (64)
 #define DJI_SYSTEM_RESULT_STR_MAX_SIZE     (128)
 
 /* Private types -------------------------------------------------------------*/
@@ -48,7 +48,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
     struct flock lock;
     T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
     char uartName[UART_DEV_NAME_STR_SIZE];
-    char systemCmd[DJI_SYSTEM_CMD_MAX_SIZE];
+    char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
     char *ret = NULL;
     char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
     FILE *fp;

samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c

@@ -178,8 +178,8 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
 T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
 {
     //attention: need confirm your usb config in device mode.
-    deviceInfo->vid = 0x7020;
+    deviceInfo->vid = 0x0955;
-    deviceInfo->pid = 0x9055;
+    deviceInfo->pid = 0x7020;
 
     deviceInfo->bulkChannelNum = 2;
 

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -1203,12 +1203,33 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
 
     if (s_meidaFileList.totalCount > 0) {
         for (int i = 0; i < s_meidaFileList.totalCount; ++i) {
-            USER_LOG_INFO("Media file_%03d name: %s, index: %d, size: %d, type: %d",
+            if (s_meidaFileList.fileListInfo[i].fileSize < 1 * 1024 * 1024) {
+                USER_LOG_INFO(
+                    "Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f KB, type: %d",
                     i, s_meidaFileList.fileListInfo[i].fileName,
                     s_meidaFileList.fileListInfo[i].fileIndex,
-                          s_meidaFileList.fileListInfo[i].fileSize,
+                    s_meidaFileList.fileListInfo[i].createTime.year,
+                    s_meidaFileList.fileListInfo[i].createTime.month,
+                    s_meidaFileList.fileListInfo[i].createTime.day,
+                    s_meidaFileList.fileListInfo[i].createTime.hour,
+                    s_meidaFileList.fileListInfo[i].createTime.minute,
+                    s_meidaFileList.fileListInfo[i].createTime.second,
+                    (dji_f32_t) s_meidaFileList.fileListInfo[i].fileSize / 1024,
                     s_meidaFileList.fileListInfo[i].type);
-            osalHandler->TaskSleepMs(10);
+            } else {
+                USER_LOG_INFO(
+                    "Media file_%03d name: %s, index: %d,  time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f MB, type: %d",
+                    i, s_meidaFileList.fileListInfo[i].fileName,
+                    s_meidaFileList.fileListInfo[i].fileIndex,
+                    s_meidaFileList.fileListInfo[i].createTime.year,
+                    s_meidaFileList.fileListInfo[i].createTime.month,
+                    s_meidaFileList.fileListInfo[i].createTime.day,
+                    s_meidaFileList.fileListInfo[i].createTime.hour,
+                    s_meidaFileList.fileListInfo[i].createTime.minute,
+                    s_meidaFileList.fileListInfo[i].createTime.second,
+                    (dji_f32_t) s_meidaFileList.fileListInfo[i].fileSize / (1024 * 1024),
+                    s_meidaFileList.fileListInfo[i].type);
+            }
         }
 
         osalHandler->TaskSleepMs(1000);
@@ -1226,6 +1247,8 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
             USER_LOG_ERROR("Delete media file by index failed, error code: 0x%08X.", returnCode);
             return returnCode;
         }
+
+        osalHandler->TaskSleepMs(1000);
     } else {
         USER_LOG_WARN("Media file is not existed in sdcard.");
     }
@@ -1242,10 +1265,6 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
 
     sprintf(extendInfo, " FileIndex: %d", packetInfo.fileIndex);
 
-#ifdef SYSTEM_ARCH_LINUX
-    DjiUserUtil_PrintProgressBar(packetInfo.progressInPercent, 100, extendInfo);
-#endif
-
     if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_START) {
         for (i = 0; i < s_meidaFileList.totalCount; ++i) {
             if (s_meidaFileList.fileListInfo[i].fileIndex == packetInfo.fileIndex) {
@@ -1253,17 +1272,23 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
             }
         }
         sprintf(fileName, "%s", s_meidaFileList.fileListInfo[i].fileName);
+        USER_LOG_INFO("Start download media file %s", s_meidaFileList.fileListInfo[i].fileName);
         s_downloadMediaFile = fopen(fileName, "wb+");
         if (s_downloadMediaFile == NULL) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
         fwrite(data, 1, len, s_downloadMediaFile);
     } else if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_TRANSFER) {
+        if (s_downloadMediaFile != NULL) {
             fwrite(data, 1, len, s_downloadMediaFile);
+        }
     } else if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_END) {
+        if (s_downloadMediaFile != NULL) {
             fwrite(data, 1, len, s_downloadMediaFile);
+        }
+
+        USER_LOG_INFO("End download media file");
         fclose(s_downloadMediaFile);
-        printf("\r\n");
     }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

samples/sample_c/module_sample/data_transmission/test_data_transmission.c

@@ -60,6 +60,7 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
     char ipAddr[DJI_IP_ADDR_STR_SIZE_MAX];
     uint16_t port;
 
+
     djiStat = DjiLowSpeedDataChannel_Init();
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("init data transmission module error.");
@@ -176,7 +177,7 @@ static void *UserDataTransmission_Task(void *arg)
                 USER_LOG_ERROR("get send to onboard computer channel state error.");
             }
 
-#ifdef SYSTEM_ARCH_LINUX
+            if (DjiPlatform_GetSocketHandler() != NULL) {
                 djiStat = DjiHighSpeedDataChannel_SendDataStreamData(dataToBeSent, sizeof(dataToBeSent));
                 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
                     USER_LOG_ERROR("send data to data stream error.");
@@ -189,7 +190,7 @@ static void *UserDataTransmission_Task(void *arg)
                 } else {
                     USER_LOG_ERROR("get data stream state error.");
                 }
-#endif
+            }
         } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
             channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
             djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));

samples/sample_c/module_sample/data_transmission/test_data_transmission.h

@@ -39,7 +39,6 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 
-
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_DataTransmissionStartService(void);
 

samples/sample_c/platform/linux/common/osal/osal_fs.c

@@ -271,7 +271,7 @@ T_DjiReturnCode Osal_Stat(const char *filePath, T_DjiFileInfo *fileInfo)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
-    fileTm = localtime(&(st.st_mtim));
+    fileTm = localtime((const time_t *) &(st.st_mtim));
     if (fileTm == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }

samples/sample_c/platform/linux/common/osal/osal_socket.c

@@ -124,7 +124,7 @@ T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipA
     addr.sin_port = htons(port);
     addr.sin_addr.s_addr = inet_addr(ipAddr);
 
-    ret = sendto(socketHandleStruct->socketFd, buf, len, 0, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
+    ret = sendto(socketHandleStruct->socketFd, buf, len, MSG_DONTWAIT, (struct sockaddr *) &addr, sizeof(struct sockaddr_in));
     if (ret >= 0) {
         *realLen = ret;
     } else {

samples/sample_c/platform/linux/manifold2/application/main.c

@@ -60,8 +60,9 @@
 #define DJI_LOG_FOLDER_NAME             "Logs"
 #define DJI_LOG_PATH_MAX_SIZE           (128)
 #define DJI_LOG_FOLDER_NAME_MAX_SIZE    (32)
-#define DJI_LOG_SYSTEM_CMD_MAX_SIZE     (64)
 #define DJI_LOG_MAX_COUNT               (10)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE     (64)
+#define DJI_SYSTEM_RESULT_STR_MAX_SIZE  (128)
 
 #define DJI_USE_WIDGET_INTERACTION       0
 
@@ -505,7 +506,7 @@ static T_DjiReturnCode DjiUser_LocalWriteFsInit(const char *path)
 {
     T_DjiReturnCode djiReturnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
     char filePath[DJI_LOG_PATH_MAX_SIZE];
-    char systemCmd[DJI_LOG_SYSTEM_CMD_MAX_SIZE];
+    char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
     char folderName[DJI_LOG_FOLDER_NAME_MAX_SIZE];
     time_t currentTime = time(NULL);
     struct tm *localTime = localtime(&currentTime);

samples/sample_c/platform/linux/manifold2/hal/hal_uart.c

@@ -28,7 +28,7 @@
 
 /* Private constants ---------------------------------------------------------*/
 #define UART_DEV_NAME_STR_SIZE             (128)
-#define DJI_SYSTEM_CMD_MAX_SIZE            (64)
+#define DJI_SYSTEM_CMD_STR_MAX_SIZE        (64)
 #define DJI_SYSTEM_RESULT_STR_MAX_SIZE     (128)
 
 /* Private types -------------------------------------------------------------*/
@@ -48,7 +48,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
     struct flock lock;
     T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
     char uartName[UART_DEV_NAME_STR_SIZE];
-    char systemCmd[DJI_SYSTEM_CMD_MAX_SIZE];
+    char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
     char *ret = NULL;
     char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
     FILE *fp;

samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c

@@ -178,8 +178,8 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
 T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
 {
     //attention: need confirm your usb config in device mode.
-    deviceInfo->vid = 0x7020;
+    deviceInfo->vid = 0x0955;
-    deviceInfo->pid = 0x9055;
+    deviceInfo->pid = 0x7020;
 
     deviceInfo->bulkChannelNum = 2;