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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>
This commit is contained in:
DJI-Martin
2021-11-12 16:27:03 +08:00
parent 2cce11a80b
commit e478e9a7a5
541 changed files with 2192778 additions and 2 deletions
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173
samples/sample_c/module_sample/time_sync/test_time_sync.c Normal file
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/**
********************************************************************
* @file test_time_sync.c
* @brief
*
* @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.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <fc_subscription/test_fc_subscription.h>
#include "test_time_sync.h"
#include "dji_time_sync.h"
#include "dji_logger.h"
#include "utils/util_misc.h"
#include "dji_platform.h"
/* Private constants ---------------------------------------------------------*/
#define DJI_TEST_TIME_SYNC_TASK_FREQ (1)
#define DJI_TEST_TIME_SYNC_TASK_STACK_SIZE (2048)
/* Private types -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
static void *DjiTest_TimeSyncTask(void *arg);
/* Private variables ---------------------------------------------------------*/
static T_DjiTestTimeSyncHandler s_timeSyncHandler;
static T_DjiTaskHandle s_timeSyncThread;
/* Exported functions definition ---------------------------------------------*/
/**
* @brief Register handler function for initialising PPS pin configure and reporting the latest local time when PPS is
* triggered. This function have to be called before calling DjiTest_TimeSyncInit().
* @param timeSyncHandler: pointer to handler function for time synchronization.
* @return Execution result.
*/
T_DjiReturnCode DjiTest_TimeSyncRegHandler(T_DjiTestTimeSyncHandler *timeSyncHandler)
{
if (timeSyncHandler->PpsSignalResponseInit == NULL) {
USER_LOG_ERROR("reg time sync handler PpsSignalResponseInit error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (timeSyncHandler->GetNewestPpsTriggerLocalTimeUs == NULL) {
USER_LOG_ERROR("reg time sync handler GetNewestPpsTriggerLocalTimeUs error");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
memcpy(&s_timeSyncHandler, timeSyncHandler, sizeof(T_DjiTestTimeSyncHandler));
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode DjiTest_TimeSyncStartService(void)
{
T_DjiReturnCode djiStat;
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
djiStat = DjiTimeSync_Init();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("time synchronization module init error.");
return djiStat;
}
if (s_timeSyncHandler.PpsSignalResponseInit == NULL) {
USER_LOG_ERROR("time sync handler PpsSignalResponseInit interface is NULL error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
USER_LOG_ERROR("time sync handler GetNewestPpsTriggerLocalTimeUs interface is NULL error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
// users must register getNewestPpsTriggerTime callback function
djiStat = DjiTimeSync_RegGetNewestPpsTriggerTimeCallback(s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("register GetNewestPpsTriggerLocalTimeUsCallback error.");
return djiStat;
}
if (osalHandler->TaskCreate("user_time_sync_task", DjiTest_TimeSyncTask,
DJI_TEST_TIME_SYNC_TASK_STACK_SIZE, NULL, &s_timeSyncThread) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user time sync task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
djiStat = s_timeSyncHandler.PpsSignalResponseInit();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("pps signal response init error");
return djiStat;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode DjiTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs)
{
if (s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs == NULL) {
USER_LOG_ERROR("GetNewestPpsTriggerLocalTimeUs null error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
return s_timeSyncHandler.GetNewestPpsTriggerLocalTimeUs(localTimeUs);
}
/* Private functions definition-----------------------------------------------*/
#ifndef __CC_ARM
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-noreturn"
#pragma GCC diagnostic ignored "-Wreturn-type"
#endif
static void *DjiTest_TimeSyncTask(void *arg)
{
T_DjiReturnCode djiStat;
uint32_t currentTimeMs = 0;
T_DjiTimeSyncAircraftTime aircraftTime = {0};
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
uint8_t totalSatelliteNumber = 0;
USER_UTIL_UNUSED(arg);
while (1) {
osalHandler->TaskSleepMs(1000 / DJI_TEST_TIME_SYNC_TASK_FREQ);
djiStat = DjiTest_FcSubscriptionGetTotalSatelliteNumber(&totalSatelliteNumber);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get total satellite number error: 0x%08llX.", djiStat);
continue;
}
djiStat = osalHandler->GetTimeMs(&currentTimeMs);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get current time error: 0x%08llX.", djiStat);
continue;
}
djiStat = DjiTimeSync_TransferToAircraftTime(currentTimeMs * 1000, &aircraftTime);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("transfer to aircraft time error: 0x%08llX.", djiStat);
continue;
}
USER_LOG_DEBUG("current aircraft time is %d.%d.%d %d:%d %d %d.", aircraftTime.year, aircraftTime.month,
aircraftTime.day, aircraftTime.hour, aircraftTime.minute, aircraftTime.second,
aircraftTime.microsecond);
}
}
#ifndef __CC_ARM
#pragma GCC diagnostic pop
#endif
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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samples/sample_c/module_sample/time_sync/test_time_sync.h Normal file
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/**
********************************************************************
* @file test_time_sync.h
* @brief This is the header file for "test_time_sync.c", defining the structure and
* (exported) function prototypes.
*
* @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 TEST_TIME_SYNC_H
#define TEST_TIME_SYNC_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
typedef struct {
T_DjiReturnCode (*PpsSignalResponseInit)(void);
T_DjiReturnCode (*GetNewestPpsTriggerLocalTimeUs)(uint64_t *localTimeUs);
} T_DjiTestTimeSyncHandler;
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_TimeSyncStartService(void);
T_DjiReturnCode DjiTest_TimeSyncGetNewestPpsTriggerLocalTimeUs(uint64_t *localTimeUs);
T_DjiReturnCode DjiTest_TimeSyncRegHandler(T_DjiTestTimeSyncHandler *timeSyncHandler);
#ifdef __cplusplus
}
#endif
#endif // TEST_TIME_SYNC_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/