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

@@ -59,6 +59,9 @@
 #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.
-    deviceInfo->vid = 0x0955;
-    deviceInfo->pid = 0x7020;
-
-    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;
+    //attention: this interface only be called in usb device mode.
+    deviceInfo->vid = LINUX_USB_VID;
+    deviceInfo->pid = LINUX_USB_PID;
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

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

@@ -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(