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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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186
sample/platform/rtos_freertos/stm32f4_eval/application/FreeRTOSConfig.h Executable file
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/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* Section where include file can be added */
/* USER CODE END Includes */
/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#define configUSE_PREEMPTION 1
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( SystemCoreClock )
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)61440)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#define configGENERATE_RUN_TIME_STATS 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 0
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
/* USER CODE BEGIN 1 */
#define configASSERT(x) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
/* USER CODE END 1 */
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
/* IMPORTANT: This define MUST be commented when used with STM32Cube firmware,
to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
/* #define xPortSysTickHandler SysTick_Handler */
/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */
//define for freertos cli
#define configCOMMAND_INT_MAX_OUTPUT_SIZE 128
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
#define portGET_RUN_TIME_COUNTER_VALUE() xTaskGetTickCount()
/* USER CODE END Defines */
#endif /* FREERTOS_CONFIG_H */

57
sample/platform/rtos_freertos/stm32f4_eval/application/app_info.h Executable file
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/**
********************************************************************
* @file app_info.h
* @version V2.0.0
* @date 2019/07/01
* @brief This is the header file for "app_info.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 APP_INFO_H
#define APP_INFO_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
// ATTENTION: User must goto developer.dji.com to create your own payload sdk application, get payload sdk application
// information then fill in the application information here.
#define USER_APP_NAME "your_app_name"
#define USER_APP_ID "your_app_id"
#define USER_APP_KEY "your_app_key"
#define USER_DEVELOPER_ACCOUNT "your_developer_account"
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif //APP_INFO_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

477
sample/platform/rtos_freertos/stm32f4_eval/application/application.c Executable file
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/**
********************************************************************
* @file application.c
* @version V2.0.0
* @date 2019/8/23
* @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 <string.h>
#include <stdio.h>
#include <upgrade/test_upgrade_platform_opt.h>
#include <upgrade_platform_opt_stm32.h>
#include <upgrade/test_upgrade.h>
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "task.h"
#include "uart.h"
#include "apply_high_power.h"
#include "pps.h"
#include "application.h"
#include "app_info.h"
#include "psdk_config.h"
#include "psdk_core.h"
#include "psdk_logger.h"
#include "psdk_platform.h"
#include "hal/hal_uart.h"
#include "osal/osal.h"
#include "psdk_aircraft_info.h"
#include "camera_emu/test_payload_cam_emu.h"
#include "positioning/test_positioning.h"
#include "power_management/test_power_management.h"
#include "psdk_power_management.h"
#include "utils/util_misc.h"
#include "data_transmission/test_data_transmission.h"
#include "data_subscription/test_data_subscription.h"
#include "widget/test_widget.h"
#include "payload_collaboration/test_payload_collaboration.h"
#include "gimbal_emu/test_payload_gimbal_emu.h"
#include "xport/test_xport.h"
#include "utils/util_misc.h"
#include "psdk_product_info.h"
#include "time_synchronization/test_time_sync.h"
#include "data_channel/test_data_channel.h"
/* Private constants ---------------------------------------------------------*/
#define PSDK_CONSOLE_UART_NUM UART_NUM_2
#define PSDK_CONSOLE_UART_BAUD 921600
#define PSDK_COMM_WITH_LINUX_UART_NUM UART_NUM_1
#define PSDK_COMM_WITH_LINUX_UART_BAUD 115200
#define PSDK_NETWORK_INFO_CMD_MAX_SIZE 64
#define RUN_INDICATE_TASK_FREQ_1HZ 1
#define RUN_INDICATE_TASK_FREQ_0D1HZ 0.1f
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static char s_networkLocalIpAddress[PSDK_IP_ADDR_STR_SIZE_MAX] = {0};
static char s_networkConfigMask[PSDK_IP_ADDR_STR_SIZE_MAX] = {0};
static bool s_psdkInitFinished = false;
/* Private functions declaration ---------------------------------------------*/
static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo);
static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen);
static T_PsdkReturnCode PsdkUser_NetWorkConfig(const char *ipAddr, const char *netMask);
/* Exported functions definition ---------------------------------------------*/
void PsdkUser_StartTask(void const *argument)
{
T_PsdkUserInfo userInfo;
const T_PsdkDataChannelBandwidthProportionOfHighspeedChannel bandwidthProportionOfHighspeedChannel =
{40, 60, 0};
T_PsdkLoggerConsole printConsole = {
.consoleLevel = PSDK_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.func = PsdkUser_Console,
};
T_PsdkHalUartHandler halUartHandler = {
.UartInit = Hal_UartInit,
.UartWriteData = Hal_UartSendData,
.UartReadData = Hal_UartReadData,
};
T_PsdkOsalHandler osalHandler = {
.TaskCreate = Osal_TaskCreate,
.TaskDestroy = Osal_TaskDestroy,
.TaskSleepMs = Osal_TaskSleepMs,
.MutexCreate = Osal_MutexCreate,
.MutexDestroy = Osal_MutexDestroy,
.MutexLock = Osal_MutexLock,
.MutexUnlock = Osal_MutexUnlock,
.SemaphoreCreate = Osal_SemaphoreCreate,
.SemaphoreDestroy = Osal_SemaphoreDestroy,
.SemaphoreWait = Osal_SemaphoreWait,
.SemaphoreTimedWait = Osal_SemaphoreTimedWait,
.SemaphorePost = Osal_SemaphorePost,
.GetTimeMs = Osal_GetTimeMs,
.Malloc = Osal_Malloc,
.Free = Osal_Free,
};
T_PsdkHalNetWorkHandler networkHandler = {
.NetWorkConfig = PsdkUser_NetWorkConfig,
};
#ifdef PSDK_USING_POWER_MANAGEMENT
T_PsdkTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = PsdkTest_HighPowerApplyPinInit,
.pinWrite = PsdkTest_WriteHighPowerApplyPin,
};
#endif
#ifdef PSDK_USING_TIME_SYNC
T_PsdkTestTimeSyncHandler timeSyncHandler = {
.PpsSignalResponseInit = PsdkTest_PpsSignalResponseInit,
.GetNewestPpsTriggerLocalTimeUs = PsdkTest_GetNewestPpsTriggerLocalTimeUs,
};
#endif
#ifdef PSDK_USING_UPGRADE
T_PsdkTestUpgradePlatformOpt stm32UpgradePlatformOpt = {
.rebootSystem = PsdkUpgradePlatformStm32_RebootSystem,
.cleanUpgradeProgramFileStoreArea = PsdkUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = PsdkUpgradePlatformStm32_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = PsdkUpgradePlatformStm32_WriteUpgradeProgramFile,
.readUpgradeProgramFile = PsdkUpgradePlatformStm32_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = PsdkUpgradePlatformStm32_CloseUpgradeProgramFile,
.replaceOldProgram = PsdkUpgradePlatformStm32_ReplaceOldProgram,
.setUpgradeRebootState = PsdkUpgradePlatformStm32_SetUpgradeRebootState,
.getUpgradeRebootState = PsdkUpgradePlatformStm32_GetUpgradeRebootState,
.cleanUpgradeRebootState = PsdkUpgradePlatformStm32_CleanUpgradeRebootState,
};
#endif
T_PsdkAircraftInfoBaseInfo aircraftBaseInfo = {0};
USER_UTIL_UNUSED(argument);
UART_Init(PSDK_CONSOLE_UART_NUM, PSDK_CONSOLE_UART_BAUD);
UART_Init(PSDK_COMM_WITH_LINUX_UART_NUM, PSDK_COMM_WITH_LINUX_UART_BAUD);
if (PsdkPlatform_RegHalUartHandler(&halUartHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
goto out;
if (PsdkPlatform_RegOsalHandler(&osalHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
goto out;
if (PsdkPlatform_RegHalNetworkHandler(&networkHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
goto out;
if (PsdkLogger_AddConsole(&printConsole) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
goto out;
if (PsdkUser_FillInUserInfo(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk fill in user info error");
goto out;
}
if (PsdkCore_Init(&userInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk instance init error");
goto out;
}
if (PsdkProductInfo_SetAlias("PSDK_APPALIAS") != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("set product alias error.");
goto out;
}
if (PsdkAircraftInfo_GetBaseInfo(&aircraftBaseInfo) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("get aircraft information error.");
goto out;
}
if (PsdkTest_DataChannelSetBandwidthProportionForHighspeedChannel(
bandwidthProportionOfHighspeedChannel) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("set bandwidth distribution for high-speed channel error");
}
#ifdef PSDK_USING_POWER_MANAGEMENT
if (PsdkTest_RegApplyHighPowerHandler(&applyHighPowerHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("regsiter apply high power handler error");
goto out;
}
if (PsdkTest_PowerManagementInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("power management init error");
}
#endif
#ifdef PSDK_USING_CAMERA_EMU
if (PsdkTest_CameraInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk camera init error");
}
#endif
#ifdef PSDK_USING_DATA_TRANSMISSION
if (PsdkTest_DataTransmissionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk data transmission init error");
}
#endif
#ifdef PSDK_USING_DATA_SUBSCRIPTION
if (PsdkTest_DataSubscriptionInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk data subscription init error");
}
#endif
#ifdef PSDK_USING_WIDGET
if (PsdkTest_WidgetInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk widget init error");
}
#endif
#ifdef PSDK_USING_TIME_SYNC
if (aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2 ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M300_RTK) {
if (PsdkTest_TimeSyncRegHandler(&timeSyncHandler) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("regsiter time sync handler error");
goto out;
}
if (PsdkTest_TimeSyncInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk time sync init error");
}
}
#endif
#ifdef PSDK_USING_POSITIONING
if (aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2 ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M300_RTK) {
if (PsdkTest_PositioningInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk positioning init error");
}
}
#endif
#ifdef PSDK_USING_PAYLOAD_COLLABORATION
if (((aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M200_V2 ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210_V2 ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M210RTK_V2) &&
aircraftBaseInfo.payloadMountPosition == PSDK_AIRCRAFT_INFO_PAYLOAD_MOUNT_POSITION_NO2) ||
aircraftBaseInfo.aircraftType == PSDK_AIRCRAFT_INFO_TYPE_M300_RTK) {
if (PsdkTest_PayloadCollaborationInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk payload collaboration init error");
}
}
#endif
#ifdef PSDK_USING_GIMBAL_EMU
if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_SKYPORT_V2) {
if (PsdkTest_GimbalInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk gimbal init error");
}
}
#endif
#ifdef PSDK_USING_XPORT
if (aircraftBaseInfo.psdkAdapterType == PSDK_AIRCRAFT_INFO_PSDK_ADAPTER_TYPE_XPORT) {
if (PsdkTest_XPortInit() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk XPort init error");
}
}
#endif
#ifdef PSDK_USING_UPGRADE
if (PsdkTest_UpgradeInit(&stm32UpgradePlatformOpt) != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk upgrade init error");
}
#endif
if (PsdkCore_ApplicationStart() != PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogError("psdk application start error");
}
PsdkLogger_UserLogInfo("psdk init ok");
s_psdkInitFinished = true;
out:
vTaskDelete(xTaskGetCurrentTaskHandle());
}
#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
#endif
void PsdkUser_RunIndicateTask(void const *argument)
{
int32_t i = 0;
int32_t j = 0;
static uint32_t runIndicateTaskStep = 0;
T_UartBufferState readBufferState = {0};
T_UartBufferState writeBufferState = {0};
TaskStatus_t *lastTaskStatusArray = NULL;
TaskStatus_t *currentTaskStatusArray = NULL;
uint8_t lastTaskStatusArraySize = 0;
uint8_t currentTaskStatusArraySize = 0;
uint8_t cpuOccupyPercentage = 0;
char networkInfoCmd[PSDK_NETWORK_INFO_CMD_MAX_SIZE] = {0};
T_PsdkReturnCode returnCode;
char ipAddr[PSDK_IP_ADDR_STR_SIZE_MAX] = {0};
uint16_t port = 0;
USER_UTIL_UNUSED(argument);
USER_UTIL_UNUSED(readBufferState);
USER_UTIL_UNUSED(writeBufferState);
while (1) {
Osal_TaskSleepMs(1000 / RUN_INDICATE_TASK_FREQ_1HZ);
// report UART buffer state
#ifdef USING_UART_PORT_1
UART_GetBufferState(UART_NUM_1, &readBufferState, &writeBufferState);
PsdkLogger_UserLogDebug("Uart1 read buffer state: countOfLostData %d, maxUsedCapacityOfBuffer %d.",
readBufferState.countOfLostData, readBufferState.maxUsedCapacityOfBuffer);
PsdkLogger_UserLogDebug("Uart1 write buffer state: countOfLostData %d, maxUsedCapacityOfBuffer %d.",
writeBufferState.countOfLostData, writeBufferState.maxUsedCapacityOfBuffer);
#endif
#ifdef USING_UART_PORT_2
UART_GetBufferState(UART_NUM_2, &readBufferState, &writeBufferState);
PsdkLogger_UserLogDebug("Uart2 read buffer state: countOfLostData %d, maxUsedCapacityOfBuffer %d.",
readBufferState.countOfLostData, readBufferState.maxUsedCapacityOfBuffer);
PsdkLogger_UserLogDebug("Uart2 write buffer state: countOfLostData %d, maxUsedCapacityOfBuffer %d.",
writeBufferState.countOfLostData, writeBufferState.maxUsedCapacityOfBuffer);
#endif
#ifdef USING_UART_PORT_3
UART_GetBufferState(UART_NUM_3, &readBufferState, &writeBufferState);
PsdkLogger_UserLogDebug("Uart3 read buffer state: countOfLostData %d, maxUsedCapacityOfBuffer %d.",
readBufferState.countOfLostData, readBufferState.maxUsedCapacityOfBuffer);
PsdkLogger_UserLogDebug("Uart3 write buffer state: countOfLostData %d, maxUsedCapacityOfBuffer %d.",
writeBufferState.countOfLostData, writeBufferState.maxUsedCapacityOfBuffer);
#endif
// report system performance information.
// Attention: report system performance part is not intended for normal application runtime use but as a debug aid.
if (USER_UTIL_IS_WORK_TURN(runIndicateTaskStep++, RUN_INDICATE_TASK_FREQ_0D1HZ, RUN_INDICATE_TASK_FREQ_1HZ)) {
#if (configUSE_TRACE_FACILITY == 1)
currentTaskStatusArraySize = uxTaskGetNumberOfTasks();
currentTaskStatusArray = PsdkOsal_Malloc(currentTaskStatusArraySize * sizeof(TaskStatus_t));
if (currentTaskStatusArray == NULL) {
continue;
}
currentTaskStatusArraySize = uxTaskGetSystemState(currentTaskStatusArray, currentTaskStatusArraySize,
NULL);
PsdkLogger_UserLogDebug("task information:");
PsdkLogger_UserLogDebug("task name\trun time (%%)\tstack left (byte)\tnumber");
for (i = 0; i < currentTaskStatusArraySize; i++) {
cpuOccupyPercentage = 0;
for (j = 0; j < lastTaskStatusArraySize; ++j) {
if (currentTaskStatusArray[i].xTaskNumber == lastTaskStatusArray[j].xTaskNumber) {
cpuOccupyPercentage =
(currentTaskStatusArray[i].ulRunTimeCounter - lastTaskStatusArray[j].ulRunTimeCounter) /
configTICK_RATE_HZ / RUN_INDICATE_TASK_FREQ_0D1HZ;
break;
}
}
PsdkLogger_UserLogDebug("%s\t%u\t%u\t%u", currentTaskStatusArray[i].pcTaskName, cpuOccupyPercentage,
(unsigned int) currentTaskStatusArray[i].usStackHighWaterMark *
sizeof(StackType_t), (unsigned int) currentTaskStatusArray[i].xTaskNumber);
}
PsdkOsal_Free(lastTaskStatusArray);
lastTaskStatusArray = currentTaskStatusArray;
lastTaskStatusArraySize = currentTaskStatusArraySize;
#endif
PsdkLogger_UserLogDebug("used heap size: %d.", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize());
}
// Attention: notify another device the network info by uart message, then the device can config network
// and send video/data stream by these info.
if (s_psdkInitFinished != true) {
continue;
}
sprintf(networkInfoCmd, "[network_config] [ip] %s [mask] %s\r\n", s_networkLocalIpAddress,
s_networkConfigMask);
UART_Write(PSDK_COMM_WITH_LINUX_UART_NUM, (uint8_t *) networkInfoCmd, strlen(networkInfoCmd));
returnCode = PsdkPayloadCamera_GetVideoStreamRemoteAddress(ipAddr, &port);
if (returnCode == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogDebug("get video stream remote address:%s_%d", ipAddr, port);
} else {
PsdkLogger_UserLogError("get video stream remote address error.");
continue;
}
sprintf(networkInfoCmd, "[video_stream] [ip] %s [port] %d\r\n", ipAddr, port);
UART_Write(PSDK_COMM_WITH_LINUX_UART_NUM, (uint8_t *) networkInfoCmd, strlen(networkInfoCmd));
returnCode = PsdkDataTransmission_GetDataStreamRemoteAddress(ipAddr, &port);
if (returnCode == PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
PsdkLogger_UserLogDebug("get data stream remote address: %s_%d", ipAddr, port);
} else {
PsdkLogger_UserLogError("get data stream remote address error.");
continue;
}
sprintf(networkInfoCmd, "[data_stream] [ip] %s [port] %d\r\n", ipAddr, port);
UART_Write(PSDK_COMM_WITH_LINUX_UART_NUM, (uint8_t *) networkInfoCmd, strlen(networkInfoCmd));
}
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
/* Private functions definition-----------------------------------------------*/
static T_PsdkReturnCode PsdkUser_FillInUserInfo(T_PsdkUserInfo *userInfo)
{
memset(userInfo->appName, 0, sizeof(userInfo->appName));
memset(userInfo->appId, 0, sizeof(userInfo->appId));
memset(userInfo->appKey, 0, sizeof(userInfo->appKey));
memset(userInfo->developerAccount, 0, sizeof(userInfo->developerAccount));
if (strlen(USER_APP_NAME) >= sizeof(userInfo->appName) ||
strlen(USER_APP_ID) > sizeof(userInfo->appId) ||
strlen(USER_APP_KEY) > sizeof(userInfo->appKey) ||
strlen(USER_DEVELOPER_ACCOUNT) >= sizeof(userInfo->developerAccount)) {
PsdkLogger_UserLogError("Length of user information string is beyond limit. Please check.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (!strcmp(USER_APP_NAME, "your_app_name") ||
!strcmp(USER_APP_ID, "your_app_id") ||
!strcmp(USER_APP_KEY, "your_app_key") ||
!strcmp(USER_DEVELOPER_ACCOUNT, "your_developer_account")) {
PsdkLogger_UserLogError("Please fill in correct user information to psdk_app_info.h file.");
return PSDK_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
strncpy(userInfo->appName, USER_APP_NAME, sizeof(userInfo->appName) - 1);
memcpy(userInfo->appId, USER_APP_ID, USER_UTIL_MIN(sizeof(userInfo->appId), strlen(USER_APP_ID)));
memcpy(userInfo->appKey, USER_APP_KEY, USER_UTIL_MIN(sizeof(userInfo->appKey), strlen(USER_APP_KEY)));
strncpy(userInfo->developerAccount, USER_DEVELOPER_ACCOUNT, sizeof(userInfo->developerAccount) - 1);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_PsdkReturnCode PsdkUser_Console(const uint8_t *data, uint16_t dataLen)
{
UART_Write(PSDK_CONSOLE_UART_NUM, (uint8_t *) data, dataLen);
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static T_PsdkReturnCode PsdkUser_NetWorkConfig(const char *ipAddr, const char *netMask)
{
PsdkLogger_UserLogInfo("Network of payload need config to ipAddr:%s netMask:%s", ipAddr, netMask);
strncpy(s_networkLocalIpAddress, ipAddr, sizeof(s_networkLocalIpAddress));
strncpy(s_networkConfigMask, netMask, sizeof(s_networkLocalIpAddress));
return PSDK_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file application.h
* @version V2.0.0
* @date 2019/8/23
* @brief This is the header file for "application.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 APPLICATION_H
#define APPLICATION_H
/* Includes ------------------------------------------------------------------*/
#include "psdk_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
void PsdkUser_StartTask(void const *argument);
void PsdkUser_RunIndicateTask(void const *argument);
#ifdef __cplusplus
}
#endif
#endif // APPLICATION_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

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/**
********************************************************************
* @file main.c
* @version V2.0.0
* @date 2019/8/23
* @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 "stm32f4xx_hal.h"
#include "application.h"
#include "FreeRTOS.h"
#include "task.h"
#include "psdk_platform.h"
/* Private constants ---------------------------------------------------------*/
#define USER_START_TASK_STACK_SIZE 512
#define USER_START_TASK_PRIORITY 0
#define USER_RUN_INDICATE_TASK_STACK_SIZE 256
#define USER_RUN_INDICATE_TASK_PRIORITY 0
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static TaskHandle_t startTask;
static TaskHandle_t runIndicateTask;
/* Private functions declaration ---------------------------------------------*/
static void SystemClock_Config(void);
/* Exported functions definition ---------------------------------------------*/
#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
#endif
int main(void)
{
/* STM32F4xx HAL library initialization:
- Configure the Flash prefetch, instruction and Data caches
- Configure the Systick to generate an interrupt each 1 msec
- Set NVIC Group Priority to 4
- Global MSP (MCU Support Package) initialization
*/
HAL_Init();
/* Configure the system clock to 168 MHz */
SystemClock_Config();
/* Create start task */
xTaskCreate((TaskFunction_t) PsdkUser_StartTask, "start_task", USER_START_TASK_STACK_SIZE,
NULL, USER_START_TASK_PRIORITY, startTask);
/* Create runIndicate task */
xTaskCreate((TaskFunction_t) PsdkUser_RunIndicateTask, "run_indicate_task", USER_RUN_INDICATE_TASK_STACK_SIZE,
NULL, USER_RUN_INDICATE_TASK_PRIORITY, runIndicateTask);
/* Start scheduler */
vTaskStartScheduler();
/*Taken by the scheduler */
for (;;);
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
/* Private functions definition-----------------------------------------------*/
/**
* @brief System Clock Configuration
* The system Clock is configured as follow :
* System Clock source = PLL (HSE)
* SYSCLK(Hz) = 168000000
* HCLK(Hz) = 168000000
* AHB Prescaler = 1
* APB1 Prescaler = 4
* APB2 Prescaler = 2
* HSE Frequency(Hz) = HSE_VALUE
* PLL_M = HSE_VALUE/1000000
* PLL_N = 336
* PLL_P = 2
* PLL_Q = 7
* VDD(V) = 3.3
* Main regulator output voltage = Scale1 mode
* Flash Latency(WS) = 5
* @param None
* @retval None
*/
static void SystemClock_Config(void)
{
RCC_ClkInitTypeDef RCC_ClkInitStruct;
RCC_OscInitTypeDef RCC_OscInitStruct;
/* Enable Power Control clock */
__HAL_RCC_PWR_CLK_ENABLE();
/* The voltage scaling allows optimizing the power consumption when the device is
clocked below the maximum system frequency, to update the voltage scaling value
regarding system frequency refer to product datasheet. */
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/* Enable HSE Oscillator and activate PLL with HSE as source */
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = HSE_VALUE / 1000000;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
HAL_RCC_OscConfig(&RCC_OscInitStruct);
/* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
clocks dividers */
RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 |
RCC_CLOCKTYPE_PCLK2);
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
/* STM32F405x/407x/415x/417x Revision Z devices: prefetch is supported */
if (HAL_GetREVID() == 0x1001) {
/* Enable the Flash prefetch */
__HAL_FLASH_PREFETCH_BUFFER_ENABLE();
}
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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/**
********************************************************************
* @file psdk_config.h
* @version V2.0.0
* @date 2019/9/11
* @brief This is the header file for "psdk_config.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 PSDK_CONFIG_H
#define PSDK_CONFIG_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define PSDK_USING_POWER_MANAGEMENT
#define PSDK_USING_CAMERA_EMU
#define PSDK_USING_DATA_TRANSMISSION
#define PSDK_USING_DATA_SUBSCRIPTION
#define PSDK_USING_PAYLOAD_COLLABORATION
#define PSDK_USING_WIDGET
#define PSDK_USING_TIME_SYNC
#define PSDK_USING_POSITIONING
#define PSDK_USING_GIMBAL_EMU
#define PSDK_USING_XPORT
#ifdef USE_BOOTLOADER
#define PSDK_USING_UPGRADE
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
#ifdef __cplusplus
}
#endif
#endif // PSDK_CONFIG_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/