FIX: fix the usb bulk crash bug and other issues

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

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     1501 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1503 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c++/module_sample/perception/test_perception_entry.cpp

@@ -269,7 +269,9 @@ void DjiUser_RunStereoVisionViewSample(void)
             default:
                 break;
         }
+#ifdef OPEN_CV_INSTALLED
         cv::destroyAllWindows();
+#endif
     }
 
 DestroyTask:

samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -52,13 +52,16 @@
 #define WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME     "tts_sample.wav"
 #define WIDGET_SPEAKER_TTS_FILE_MAX_SIZE        (3000)
 
-/*The frame size is hardcoded for this sample code but it doesn't have to be*/
+/* The frame size is hardcoded for this sample code but it doesn't have to be */
 #define WIDGET_SPEAKER_AUDIO_OPUS_MAX_PACKET_SIZE    (3 * 1276)
 #define WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE     (6 * 960)
 #define WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE        (16000)
 #define WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS           (1)
 #define WIDGET_SPEAKER_AUDIO_OPUS_DECODE_FRAME_SIZE  (160)
 
+/* The speaker initialization parameters */
+#define WIDGET_SPEAKER_DEFAULT_VOLUME                (50)
+
 /* Private types -------------------------------------------------------------*/
 
 /* Private values -------------------------------------------------------------*/
@@ -122,6 +125,28 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
         return returnCode;
     }
 
+    returnCode = osalHandler->MutexLock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    s_speakerState.state = DJI_WIDGET_SPEAKER_STATE_IDEL;
+    s_speakerState.workMode = DJI_WIDGET_SPEAKER_WORK_MODE_VOICE;
+    s_speakerState.playMode = DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY;
+
+    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    returnCode = SetVolume(WIDGET_SPEAKER_DEFAULT_VOLUME);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Set speaker volume error: 0x%08llX", returnCode);
+        return returnCode;
+    }
+
     if (osalHandler->TaskCreate("user_widget_speaker_task", DjiTest_WidgetSpeakerTask, WIDGET_SPEAKER_TASK_STACK_SIZE,
                                 NULL,
                                 &s_widgetSpeakerTestThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -633,6 +658,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
         returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, buf, size);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("File md5 sum check failed");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         DjiTest_DecodeAudioData();

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

@@ -30,7 +30,10 @@
 #define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS    (50)
 #define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER  (-1)
 
-#define LINUX_USB_BULK_DEV1                   "/dev/usb-ffs/bulk"
+#define LINUX_USB_BULK_EP_OUT                 "/dev/usb-ffs/bulk/ep1"
+#define LINUX_USB_BULK_EP_IN                  "/dev/usb-ffs/bulk/ep2"
+#define LINUX_USB_PID                         (0x0955)
+#define LINUX_USB_VID                         (0x7020)
 
 /* Private types -------------------------------------------------------------*/
 typedef struct {
@@ -80,12 +83,12 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
         ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
         memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
 
-        ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open("/dev/usb-ffs/bulk/ep1", O_RDWR);
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK_EP_OUT, O_RDWR);
         if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
-        ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open("/dev/usb-ffs/bulk/ep2", O_RDWR);
+        ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK_EP_IN, O_RDWR);
         if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -177,19 +180,9 @@ 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.
+    //attention: this interface only be called in usb device mode.
-    deviceInfo->vid = 0x0955;
+    deviceInfo->vid = LINUX_USB_VID;
-    deviceInfo->pid = 0x7020;
+    deviceInfo->pid = LINUX_USB_PID;
-
-    deviceInfo->bulkChannelNum = 2;
-
-    deviceInfo->channelInfo[0].interfaceNum = 0;
-    deviceInfo->channelInfo[0].endPointIn = 0x01;
-    deviceInfo->channelInfo[0].endPointOut = 0x81;
-
-    deviceInfo->channelInfo[1].interfaceNum = 0;
-    deviceInfo->channelInfo[1].endPointIn = 0x02;
-    deviceInfo->channelInfo[1].endPointOut = 0x82;
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c

@@ -162,127 +162,127 @@ void DjiUser_StartTask(void const *argument)
     }
 
 #ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
-        T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
+    T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
-            .pinInit = DjiTest_HighPowerApplyPinInit,
+        .pinInit = DjiTest_HighPowerApplyPinInit,
-            .pinWrite = DjiTest_WriteHighPowerApplyPin,
+        .pinWrite = DjiTest_WriteHighPowerApplyPin,
-        };
+    };
 
-        returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
+    returnCode = DjiTest_RegApplyHighPowerHandler(&applyHighPowerHandler);
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("regsiter apply high power handler error");
+        USER_LOG_ERROR("regsiter apply high power handler error");
-        }
+    }
 
-        returnCode = DjiTest_PowerManagementStartService();
+    returnCode = DjiTest_PowerManagementStartService();
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("power management init error");
+        USER_LOG_ERROR("power management init error");
-        }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
-        returnCode = DjiTest_CameraEmuBaseStartService();
+    returnCode = DjiTest_CameraEmuBaseStartService();
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("camera emu common init error");
+        USER_LOG_ERROR("camera emu common init error");
-            goto out;
+        goto out;
-        }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_WIDGET_ON
 #if DJI_USE_WIDGET_INTERACTION
-        returnCode = DjiTest_WidgetInteractionStartService();
+    returnCode = DjiTest_WidgetInteractionStartService();
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("widget sample init error");
+        USER_LOG_ERROR("widget sample init error");
-        }
+    }
 #else
-        returnCode = DjiTest_WidgetStartService();
+    returnCode = DjiTest_WidgetStartService();
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("widget sample init error");
+        USER_LOG_ERROR("widget sample init error");
-        }
+    }
 #endif
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
-        returnCode = DjiTest_DataTransmissionStartService();
+    returnCode = DjiTest_DataTransmissionStartService();
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("widget sample init error");
+        USER_LOG_ERROR("widget sample init error");
-        }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
-        returnCode = DjiTest_FcSubscriptionStartService();
+    returnCode = DjiTest_FcSubscriptionStartService();
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("data subscription sample init error\n");
+        USER_LOG_ERROR("data subscription sample init error\n");
-        }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
-        if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2) {
+    if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2) {
-            if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-                USER_LOG_ERROR("psdk gimbal init error");
+            USER_LOG_ERROR("psdk gimbal init error");
-            }
         }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_XPORT_ON
-        if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
+    if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
-            if (DjiTest_XPortStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        if (DjiTest_XPortStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-                USER_LOG_ERROR("psdk xport init error");
+            USER_LOG_ERROR("psdk xport init error");
-            }
         }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
-        if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT) {
+    if (aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_EXTENSION_PORT) {
-            returnCode = DjiTest_PayloadCollaborationStartService();
+        returnCode = DjiTest_PayloadCollaborationStartService();
-            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-                USER_LOG_ERROR("Payload collaboration sample init error\n");
+            USER_LOG_ERROR("Payload collaboration sample init error\n");
-            }
         }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_TIME_SYNC_ON
-        T_DjiTestTimeSyncHandler testTimeSyncHandler = {
+    T_DjiTestTimeSyncHandler testTimeSyncHandler = {
-            .PpsSignalResponseInit = DjiTest_PpsSignalResponseInit,
+        .PpsSignalResponseInit = DjiTest_PpsSignalResponseInit,
-            .GetNewestPpsTriggerLocalTimeUs = DjiTest_GetNewestPpsTriggerLocalTimeUs,
+        .GetNewestPpsTriggerLocalTimeUs = DjiTest_GetNewestPpsTriggerLocalTimeUs,
-        };
+    };
 
-        if (DjiTest_TimeSyncRegHandler(&testTimeSyncHandler) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (DjiTest_TimeSyncRegHandler(&testTimeSyncHandler) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("regsiter time sync handler error");
+        USER_LOG_ERROR("regsiter time sync handler error");
-            goto out;
+        goto out;
-        }
+    }
 
-        if (DjiTest_TimeSyncStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (DjiTest_TimeSyncStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("psdk time sync init error");
+        USER_LOG_ERROR("psdk time sync init error");
-        }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_POSITIONING_ON
-        if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("psdk positioning init error");
+        USER_LOG_ERROR("psdk positioning init error");
-        }
+    }
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
-        T_DjiTestUpgradePlatformOpt stm32UpgradePlatformOpt = {
+    T_DjiTestUpgradePlatformOpt stm32UpgradePlatformOpt = {
-        .rebootSystem = DjiUpgradePlatformStm32_RebootSystem,
+    .rebootSystem = DjiUpgradePlatformStm32_RebootSystem,
-        .cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
+    .cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
-        .createUpgradeProgramFile = DjiUpgradePlatformStm32_CreateUpgradeProgramFile,
+    .createUpgradeProgramFile = DjiUpgradePlatformStm32_CreateUpgradeProgramFile,
-        .writeUpgradeProgramFile = DjiUpgradePlatformStm32_WriteUpgradeProgramFile,
+    .writeUpgradeProgramFile = DjiUpgradePlatformStm32_WriteUpgradeProgramFile,
-        .readUpgradeProgramFile = DjiUpgradePlatformStm32_ReadUpgradeProgramFile,
+    .readUpgradeProgramFile = DjiUpgradePlatformStm32_ReadUpgradeProgramFile,
-        .closeUpgradeProgramFile = DjiUpgradePlatformStm32_CloseUpgradeProgramFile,
+    .closeUpgradeProgramFile = DjiUpgradePlatformStm32_CloseUpgradeProgramFile,
-        .replaceOldProgram = DjiUpgradePlatformStm32_ReplaceOldProgram,
+    .replaceOldProgram = DjiUpgradePlatformStm32_ReplaceOldProgram,
-        .setUpgradeRebootState = DjiUpgradePlatformStm32_SetUpgradeRebootState,
+    .setUpgradeRebootState = DjiUpgradePlatformStm32_SetUpgradeRebootState,
-        .getUpgradeRebootState = DjiUpgradePlatformStm32_GetUpgradeRebootState,
+    .getUpgradeRebootState = DjiUpgradePlatformStm32_GetUpgradeRebootState,
-        .cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
+    .cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
-    };
+};
-    T_DjiTestUpgradeConfig testUpgradeConfig = {
+T_DjiTestUpgradeConfig testUpgradeConfig = {
-        .firmwareVersion = {1, 0, 0, 0},
+    .firmwareVersion = {1, 0, 0, 0},
-        .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
+    .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
-        .needReplaceProgramBeforeReboot = false
+    .needReplaceProgramBeforeReboot = false
-    };
+};
-    if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
+if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
-        DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        printf("psdk upgrade init error");
+    printf("psdk upgrade init error");
-    }
+}
 #endif
 
     returnCode = DjiCore_ApplicationStart();
@@ -412,7 +412,7 @@ static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
     if (!strcmp(USER_APP_NAME, "your_app_name") ||
         !strcmp(USER_APP_ID, "your_app_id") ||
         !strcmp(USER_APP_KEY, "your_app_key") ||
-        !strcmp(USER_BAUD_RATE, "your_app_license") ||
+        !strcmp(USER_APP_LICENSE, "your_app_license") ||
         !strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account") ||
         !strcmp(USER_BAUD_RATE, "your_baud_rate")) {
         USER_LOG_ERROR(