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NEW: sync the code of DJI Payload-SDK version 2.2.1 released on January 20 2021.

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-01-12 21:44:58 +08:00
parent b1f481e0d4
commit ca41636cc6
1373 changed files with 1530617 additions and 650830 deletions
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207
sample/platform/rtos_freertos/common/osal/osal.c Normal file
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/**
********************************************************************
* @file osal.c
* @version V2.0.0
* @date 2019/08/30
* @brief
*
* @copyright (c) 2018-2019 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.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "limits.h"
#include "osal/osal.h"
#include "utils/util_misc.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
/* Private constants ---------------------------------------------------------*/
#define SEM_MUTEX_WAIT_FOREVER 0xFFFFFFFF
#define TASK_PRIORITY_NORMAL 0
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
/* Private functions definition-----------------------------------------------*/
T_PsdkReturnCode
Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg)
{
uint32_t stackDepth;
char nameDealed[16] = {0};
//attention : freertos use stack depth param, stack size = (stack depth) * sizeof(StackType_t)
if (stackSize % sizeof(StackType_t) == 0) {
stackDepth = stackSize / sizeof(StackType_t);
} else {
stackDepth = stackSize / sizeof(StackType_t) + 1;
}
if (name != NULL)
strncpy(nameDealed, name, sizeof(nameDealed) - 1);
if (xTaskCreate((TaskFunction_t) taskFunc, nameDealed, stackDepth, arg, TASK_PRIORITY_NORMAL, task) != pdPASS) {
*task = NULL;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task)
{
vTaskDelete(task);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs)
{
TickType_t ticks;
ticks = timeMs / portTICK_PERIOD_MS;
/* Minimum delay = 1 tick */
vTaskDelay(ticks ? ticks : 1);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex)
{
*mutex = xSemaphoreCreateMutex();
if (*mutex == NULL) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex)
{
vQueueDelete((SemaphoreHandle_t) mutex);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex)
{
TickType_t ticks;
if (mutex == NULL) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ticks = portMAX_DELAY;
if (xSemaphoreTake(mutex, ticks) != pdTRUE) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex)
{
if (xSemaphoreGive(mutex) != pdTRUE) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue)
{
uint32_t maxCount = UINT_MAX;
*semaphore = xSemaphoreCreateCounting(maxCount, initValue);
if (*semaphore == NULL) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore)
{
vSemaphoreDelete(semaphore);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore)
{
Osal_SemaphoreTimedWait(semaphore, SEM_MUTEX_WAIT_FOREVER);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTimeMs)
{
TickType_t ticks;
if (semaphore == NULL) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
ticks = 0;
if (waitTimeMs == SEM_MUTEX_WAIT_FOREVER) {
ticks = portMAX_DELAY;
} else if (waitTimeMs != 0) {
ticks = waitTimeMs / portTICK_PERIOD_MS;
if (ticks == 0) {
ticks = 1;
}
}
if (xSemaphoreTake(semaphore, ticks) != pdTRUE) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore)
{
if (xSemaphoreGive(semaphore) != pdTRUE) {
return PSDK_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms)
{
*ms = xTaskGetTickCount();
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
void *Osal_Malloc(uint32_t size)
{
return pvPortMalloc(size);
}
void Osal_Free(void *ptr)
{
vPortFree(ptr);
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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sample/platform/rtos_freertos/common/osal/osal.h Executable file
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/**
********************************************************************
* @file osal.h
* @version V2.0.0
* @date 2019/8/28
* @brief This is the header file for "osal.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018-2019 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 OSAL_H
#define OSAL_H
/* Includes ------------------------------------------------------------------*/
#include "psdk_typedef.h"
#include "psdk_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_PsdkReturnCode
Osal_TaskCreate(T_PsdkTaskHandle *task, void *(*taskFunc)(void *), const char *name, uint32_t stackSize, void *arg);
T_PsdkReturnCode Osal_TaskDestroy(T_PsdkTaskHandle task);
T_PsdkReturnCode Osal_TaskSleepMs(uint32_t timeMs);
T_PsdkReturnCode Osal_MutexCreate(T_PsdkMutexHandle *mutex);
T_PsdkReturnCode Osal_MutexDestroy(T_PsdkMutexHandle mutex);
T_PsdkReturnCode Osal_MutexLock(T_PsdkMutexHandle mutex);
T_PsdkReturnCode Osal_MutexUnlock(T_PsdkMutexHandle mutex);
T_PsdkReturnCode Osal_SemaphoreCreate(T_PsdkSemHandle *semaphore, uint32_t initValue);
T_PsdkReturnCode Osal_SemaphoreDestroy(T_PsdkSemHandle semaphore);
T_PsdkReturnCode Osal_SemaphoreWait(T_PsdkSemHandle semaphore);
T_PsdkReturnCode Osal_SemaphoreTimedWait(T_PsdkSemHandle semaphore, uint32_t waitTime);
T_PsdkReturnCode Osal_SemaphorePost(T_PsdkSemHandle semaphore);
T_PsdkReturnCode Osal_GetTimeMs(uint32_t *ms);
void *Osal_Malloc(uint32_t size);
void Osal_Free(void *ptr);
#ifdef __cplusplus
}
#endif
#endif // OSAL_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/