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NEW: release DJI Payload-SDK version 3.0

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
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DJI-Martin
2021-11-12 16:27:03 +08:00
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psdk_lib/include/dji_xport.h Normal file
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/**
********************************************************************
* @file dji_xport.h
* @brief XPort module provides some interfaces used to control XPort and get states of XPort. The module can be used
* only when the DJI adapter is XPort, rather than Skyport.
*
* @copyright (c) 2021 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 DJI_XPORT_H
#define DJI_XPORT_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#include "dji_gimbal.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/**
* @brief XPort limit angle category.
*/
typedef enum {
DJI_XPORT_LIMIT_ANGLE_CATEGORY_ROLL_JOINT_ANGLE = 0, /*!< Joint angle limit of roll axis. */
DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE = 1, /*!< Joint angle limit of pitch axis. */
DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE = 2, /*!< Euler angle limit of pitch axis, just is limitation of angle in ground coordinate. */
DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION = 3, /*!< Extended euler angle limit of pitch axis, just is limitation of angle in ground coordinate. Extended euler
angle limit is activated when enable extended pitch axis angle limit. */
DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE = 4, /*!< Joint angle limit of yaw axis. */
} E_DjiXPortLimitAngleCategory;
/**
* @brief Limit angle data structure.
*/
typedef struct {
int16_t upperLimit; /*!< Upper limit of limit angle, unit: 0.1degree. */
int16_t lowerLimit; /*!< Lower limit of limit angle, unit: 0.1degree. */
} T_DjiXPortLimitAngle;
/**
* @brief Prototype of callback function used to receive system state of XPort.
* @warning User can not execute blocking style operations or functions in callback function, because that will block DJI
* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
* @param systemState: system state of XPort.
* @return Execution result.
*/
typedef T_DjiReturnCode (*DjiReceiveXPortSystemStateCallback)(T_DjiGimbalSystemState systemState);
/**
* @brief Prototype of callback function used to receive attitude information of XPort.
* @warning User can not execute blocking style operations or functions in callback function, because that will block DJI
* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
* @param attitudeInformation: attitude information of XPort.
* @return Execution result.
*/
typedef T_DjiReturnCode (*DjiReceiveXPortAttitudeInformationCallback)(
T_DjiGimbalAttitudeInformation attitudeInformation);
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise XPort module.
* @note The function have to be called before other functions related to XPort.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_Init(void);
/**
* @brief Deinitialize XPort module.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_DeInit(void);
/**
* @brief Register callback function used to receive system state of XPort.
* @note The callback function will be called after registering. The call frequency is 1Hz.
* @param callback: pointer to the callback function.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_RegReceiveSystemStateCallback(DjiReceiveXPortSystemStateCallback callback);
/**
* @brief Register callback function used to receive attitude information of XPort.
* @note The callback function will be called after registering. The call frequency is 10Hz.
* @param callback: pointer to the callback function.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_RegReceiveAttitudeInformationCallback(DjiReceiveXPortAttitudeInformationCallback callback);
/**
* @brief Set gimbal mode of XPort in blocking mode.
* @note Max execution time of this function is slightly larger than 600ms.
* @param mode: gimbal mode.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_SetGimbalModeSync(E_DjiGimbalMode mode);
/**
* @brief Rotate gimbal of XPort in blocking mode.
* @note Max execution time of this function is slightly larger than 600ms.
* @note If rotation mode is ::DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or ::DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE,
* range of yaw value in rotation value argument is [-1800, 1800]. Gimbal can rotate to any angle of yaw axis by the
* range. Symbol of yaw value does not determine the rotation direction of the gimbal.
* @note Attitude that gimbal can reach is also determined by angle limitation and angle limitation buffer of the gimbal.
* When the gimbal is upward, angle limitation differs from limitation users set. For angle limitation and angle limitation
* buffer, please refer to DJI documentation for details. If gimbal attitude is within range limitation buffer and
* control gimbal move towards limit direction still, or gimbal attitude is outside the angle limitation buffer but
* control gimbal to the range limitation buffer, the gimbal will return an error. For the former case, the gimbal will not
* move. In the latter case, the gimbal will try to move towards the direction of angle limit but it will stop at
* somewhere in angle limitation buffer.
* @note Rotation speed and rotation duration are also limited by the maximum speed of gimbal and maximum acceleration. The
* maximum acceleration is determined by the smooth factor of the gimbal controller set by APP. The maximum speed is determined
* by default maximum speed and maximum speed percentage set by APP, and the default maximum speed of XPort is
* 90degree/s. For the detailed relationship, please refer to SetControllerSmoothFactor() and
* SetControllerMaxSpeedPercentage() callback function prototype in dji_gimbal.h file.
* @note Only pitch and yaw axis of XPort is controllable.
* @note XPort do not response rotation command in process of control parameters auto-tuning, coaxiality detection,
* balance detection and resetting. And these operations will interrupt rotation of XPort.
* @note Effective time of a speed control command is 500ms, that is, if XPort do not receive other control commands
* within 500ms after speed control, XPort will stop rotation.
* @param rotationMode: mode of rotation command.
* @param rotationProperty: property of rotation command.
* @param rotationValue: value of rotation command, unit: 0.1 degree (if rotation mode is
* ::DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or ::DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE), 0.1 degree/s
* (if rotation mode is ::DJI_GIMBAL_ROTATION_MODE_SPEED).
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_RotateSync(E_DjiGimbalRotationMode rotationMode,
T_DjiGimbalRotationProperty rotationProperty, T_DjiAttitude3d rotationValue);
/**
* @brief Release gimbal control permission out in blocking mode.
* @details When DJI application control XPort gimbal, DJI application will capture and gain control permission of
* gimbal if allowable. After DJI application sending a sequence of the gimbal control command, DJI application should
* call this interface to release control permission of gimbal, to allow other modules (like APP, flight
* controller) can control gimbal right now. For example, DJI application can release control permission after tap
* zooming. Of course, if DJI application does not release control permission after controlling gimbal, the gimbal will also
* release control permission automatically at some time point later than the completion of control commands. Undoubtedly,
* this is inefficient.
* @note Max execution time of this function is slightly larger than 600ms.
* @note XPort do not response release control permission command in process of control parameters auto-tuning,
* coaxiality detection and balance detection.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_ReleaseControlPermissionSync(void);
/**
* @brief Reset gimbal of XPort in blocking mode.
* @details The interface reset angle of pitch axis to corresponding fine tune value in ground coordinate, and yaw axis
* to superimposed value of yaw axis angle of aircraft and corresponding fine tune value in ground coordinate.
* @note Max execution time of this function is slightly larger than 600ms.
* @note XPort do not response reset command in process of control parameters auto-tuning, coaxiality detection and
* balance detection.
* @param mode: Reset mode.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_ResetSync(E_DjiGimbalResetMode mode);
/**
* @brief Set limit angle for XPort in blocking mode.
* @details Please refer to XPort part of <a href="https://developer.dji.com/payload-sdk">developer website</a> for
* details about default limit angle of XPort.
* @note Max execution time of this function is slightly larger than 1200ms.
* @note XPort do not response set limit angle command in process of control parameters auto-tuning, coaxiality
* detection and balance detection.
* @param limitAngleCategory: limit angle category.
* @param limitAngle: limit angle.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_SetLimitAngleSync(E_DjiXPortLimitAngleCategory limitAngleCategory,
T_DjiXPortLimitAngle limitAngle);
/**
* @brief Get limit angle of XPort in blocking mode.
* @note Max execution time of this function is slightly larger than 1200ms.
* @param limitAngleCategory: limit angle category.
* @param limitAngle: pointer to memory space used to store limit angle.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_GetLimitAngleSync(E_DjiXPortLimitAngleCategory limitAngleCategory,
T_DjiXPortLimitAngle *limitAngle);
/**
* @brief Set speed conversion factor for speed control from joystick and APP.
* @details XPort convert speed control command from joystick and APP to rotation speed based on the speed conversion
* factor. The formula is "speed = maximum rotation speed * conversion factor", and maximum rotation speed is a product of
* default maximum speed and maximum speed percentage. The default maximum rotation speed is 90degree/s. The maximum
* speed percentage is set by APP. The default speed conversion factor is 1.0.
* @note The value will be effective after a while, and the max value is 100ms.
* @param factor: Speed conversion factor and it has to be smaller than or equal to 1.0.
* @return Execution result.
*/
T_DjiReturnCode DjiXPort_SetSpeedConversionFactor(float factor);
#ifdef __cplusplus
}
#endif
#endif // DJI_XPORT_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/