NEW: release DJI Payload-SDK version 3.0

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
2021-11-12 16:27:03 +08:00
parent 2cce11a80b
commit e478e9a7a5
541 changed files with 2192778 additions and 2 deletions
--- a/samples/sample_c/platform/rtos_freertos/common/osal/osal.c
+++ b/samples/sample_c/platform/rtos_freertos/common/osal/osal.c
@ -0,0 +1,211 @@
+/**
+ ********************************************************************
+ * @file    osal.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 "limits.h"
+#include "osal.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_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uint32_t stackSize,
+                                void *arg, T_DjiTaskHandle *task)
+{
+    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, (TaskHandle_t *)task) != pdPASS) {
+        *task = NULL;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task)
+{
+    vTaskDelete(task);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs)
+{
+    TickType_t ticks;
+
+    ticks = timeMs / portTICK_PERIOD_MS;
+
+    /* Minimum delay = 1 tick */
+    vTaskDelay(ticks ? ticks : 1);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
+{
+    *mutex = xSemaphoreCreateMutex();
+    if (*mutex == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
+{
+    vQueueDelete((SemaphoreHandle_t) mutex);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
+{
+    TickType_t ticks;
+
+    if (mutex == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    ticks = portMAX_DELAY;
+
+    if (xSemaphoreTake(mutex, ticks) != pdTRUE) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
+{
+    if (xSemaphoreGive(mutex) != pdTRUE) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore)
+{
+    uint32_t maxCount = UINT_MAX;
+
+    *semaphore = xSemaphoreCreateCounting(maxCount, initValue);
+
+    if (*semaphore == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore)
+{
+    vSemaphoreDelete(semaphore);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTimeMs)
+{
+    TickType_t ticks;
+
+    if (semaphore == NULL) {
+        return DJI_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 DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore)
+{
+    Osal_SemaphoreTimedWait(semaphore, SEM_MUTEX_WAIT_FOREVER);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore)
+{
+    if (xSemaphoreGive(semaphore) != pdTRUE) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
+{
+    *ms = xTaskGetTickCount();
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
+{
+    *us = xTaskGetTickCount() * 1000;
+
+    return DJI_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****/
--- a/samples/sample_c/platform/rtos_freertos/common/osal/osal.h
+++ b/samples/sample_c/platform/rtos_freertos/common/osal/osal.h
@ -0,0 +1,82 @@
+/**
+ ********************************************************************
+ * @file    osal.h
+ * @brief   This is the header file for "osal.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 OSAL_H
+#define OSAL_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+#include "dji_typedef.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uint32_t stackSize,
+                                void *arg, T_DjiTaskHandle *task);
+
+T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task);
+
+T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs);
+
+T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex);
+
+T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex);
+
+T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex);
+
+T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex);
+
+T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore);
+
+T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore);
+
+T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTimeMs);
+
+T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore);
+
+T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
+
+T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
+
+T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
+
+void *Osal_Malloc(uint32_t size);
+
+void Osal_Free(void *ptr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // OSAL_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/