tangchao0503/Payload-SDK
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

NEW: release DJI Payload-SDK version 3.3

Browse Source 
Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-11-18 20:59:40 +08:00
parent 513d3537e2
commit f33308c85b
79 changed files with 1185370 additions and 1979 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
samples/sample_c/platform/linux/manifold2/CMakeLists.txt
View File

@ -39,6 +39,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC ../../../module_sample/*.c)
include_directories(../../../module_sample)
include_directories(../common)
include_directories(../manifold2/application)
include_directories(../../../../../psdk_lib/include)
link_directories(../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})

16
samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h
View File

@ -34,18 +34,26 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define DJI_USE_ONLY_UART (0)
#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)
#define DJI_USE_UART_AND_NETWORK_DEVICE (2)
/*!< Attention: Select your hardware connection mode here.
* */
#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE
/*!< Attention: Select the sample you want to run here.
* */
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_MEDIA_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_ON
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
@ -54,8 +62,6 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
/*!< Attention: This function needs to be used together with mobile sdk mop sample.
* */
//#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON

57
samples/sample_c/platform/linux/manifold2/application/main.c
View File

@ -189,7 +189,7 @@ int main(int argc, char **argv)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -337,6 +337,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
T_DjiHalNetworkHandler networkHandler = {
.NetworkInit = HalNetWork_Init,
.NetworkDeInit = HalNetWork_DeInit,
.NetworkGetDeviceInfo = HalNetWork_GetDeviceInfo,
};
T_DjiHalUsbBulkHandler usbBulkHandler = {
@ -388,30 +389,6 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal filesystem handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (DjiUser_LocalWriteFsInit(DJI_LOG_PATH) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("file system init error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@ -429,6 +406,36 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal usb bulk handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_NETWORK_DEVICE)
returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register hal network handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
//Attention: if you want to use camera stream view function, please uncomment it.
returnCode = DjiPlatform_RegSocketHandler(&socketHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal socket handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
#elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
/*!< Attention: Only use uart hardware connection.
*/
#endif
returnCode = DjiPlatform_RegFileSystemHandler(&fileSystemHandler);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("register osal filesystem handler error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

8
samples/sample_c/platform/linux/manifold2/hal/hal_network.c
View File

@ -77,6 +77,14 @@ T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
{
deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

12
samples/sample_c/platform/linux/manifold2/hal/hal_network.h
View File

@ -40,14 +40,21 @@ extern "C" {
* NIC name micro define as #define 'LINUX_NETWORK_DEV "your NIC name"'.
*/
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_NETWORK_DEV "enp0s31f6"
#define LINUX_NETWORK_DEV "enx000ec6688213"
#else
#define LINUX_NETWORK_DEV "eth0"
#define LINUX_NETWORK_DEV "l4tbr0"
#endif
/**
* @attention
*/
#ifdef PLATFORM_ARCH_x86_64
#define USB_NET_ADAPTER_VID (0x0B95)
#define USB_NET_ADAPTER_PID (0x1790)
#else
#define USB_NET_ADAPTER_VID (0x0955)
#define USB_NET_ADAPTER_PID (0x7020)
#endif
#define LINUX_CMD_STR_MAX_SIZE (128)
@ -56,6 +63,7 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *halObj);
T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj);
T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo);
#ifdef __cplusplus
}

4
samples/sample_c/platform/linux/manifold2/hal/hal_uart.c
View File

@ -33,7 +33,7 @@
/* Private types -------------------------------------------------------------*/
typedef struct {
int uartFd;
int32_t uartFd;
} T_UartHandleStruct;
/* Private values -------------------------------------------------------------*/
@ -43,7 +43,7 @@ typedef struct {
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle)
{
T_UartHandleStruct *uartHandleStruct;
T_UartHandleStruct *uartHandleStruct = NULL;
struct termios options;
struct flock lock;
T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

4
samples/sample_c/platform/linux/manifold2/hal/hal_uart.h
View File

@ -52,13 +52,9 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUartHandle *uartHandle);
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle);
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status);
#ifdef __cplusplus

43
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
View File

@ -30,11 +30,6 @@
#define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS (50)
#define LINUX_USB_BULK_TRANSFER_WAIT_FOREVER (-1)
#define LINUX_USB_BULK_EP_OUT "/dev/usb-ffs/bulk/ep1"
#define LINUX_USB_BULK_EP_IN "/dev/usb-ffs/bulk/ep2"
#define LINUX_USB_PID (0x7020)
#define LINUX_USB_VID (0x0955)
/* Private types -------------------------------------------------------------*/
typedef struct {
#ifdef LIBUSB_INSTALLED
@ -44,6 +39,7 @@ typedef struct {
#endif
int32_t ep1;
int32_t ep2;
uint32_t interfaceNum;
T_DjiHalUsbBulkInfo usbBulkInfo;
} T_HalUsbBulkObj;
@ -87,15 +83,28 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
} else {
((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK_EP_OUT, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK_EP_IN, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
} else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
}
}
@ -197,6 +206,16 @@ T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
deviceInfo->vid = LINUX_USB_VID;
deviceInfo->pid = LINUX_USB_PID;
// This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
// This bulk channel is used to obtain DJI perception image and download camera media file.
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

30
samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h
View File

@ -38,31 +38,49 @@
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include "dji_platform.h"
#ifdef LIBUSB_INSTALLED
#include <libusb-1.0/libusb.h>
#endif
#include "dji_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"
#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"
#define LINUX_USB_BULK1_INTERFACE_NUM (2)
#define LINUX_USB_BULK1_END_POINT_IN (0x83)
#define LINUX_USB_BULK1_END_POINT_OUT (2)
#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"
#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"
#define LINUX_USB_BULK2_INTERFACE_NUM (3)
#define LINUX_USB_BULK2_END_POINT_IN (0x84)
#define LINUX_USB_BULK2_END_POINT_OUT (3)
#ifdef PLATFORM_ARCH_x86_64
#define LINUX_USB_VID (0x0B95)
#define LINUX_USB_PID (0x1790)
#else
#define LINUX_USB_VID (0x0955)
#define LINUX_USB_PID (0x7020)
#endif
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle);
T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uint8_t *buf, uint32_t len,
uint32_t *realLen);
T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len, uint32_t *realLen);
T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo);
#ifdef __cplusplus

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/FreeRTOSConfig.h
View File

@ -64,7 +64,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 7 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)75000)
#define configTOTAL_HEAP_SIZE ((size_t)64000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configUSE_MUTEXES 1

65
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -111,7 +111,7 @@ void DjiUser_StartTask(void const *argument)
};
UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
Led_Init(LED1);
Led_Init(LED3);
//Attention: if you want to run payload sdk on extension port, please define the macro DJI_EXTENSION_PORT_SUPPORT.
#if DJI_EXTENSION_PORT_SUPPORT
@ -214,8 +214,9 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2) {
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
@ -256,33 +257,36 @@ void DjiUser_StartTask(void const *argument)
#endif
#ifdef CONFIG_MODULE_SAMPLE_POSITIONING_ON
if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk positioning init error");
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT) {
if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk positioning init error");
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
T_DjiTestUpgradePlatformOpt stm32UpgradePlatformOpt = {
.rebootSystem = DjiUpgradePlatformStm32_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformStm32_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformStm32_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformStm32_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformStm32_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformStm32_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformStm32_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformStm32_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = false
};
if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk upgrade init error");
}
.rebootSystem = DjiUpgradePlatformStm32_RebootSystem,
.cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformStm32_CleanUpgradeProgramFileStoreArea,
.createUpgradeProgramFile = DjiUpgradePlatformStm32_CreateUpgradeProgramFile,
.writeUpgradeProgramFile = DjiUpgradePlatformStm32_WriteUpgradeProgramFile,
.readUpgradeProgramFile = DjiUpgradePlatformStm32_ReadUpgradeProgramFile,
.closeUpgradeProgramFile = DjiUpgradePlatformStm32_CloseUpgradeProgramFile,
.replaceOldProgram = DjiUpgradePlatformStm32_ReplaceOldProgram,
.setUpgradeRebootState = DjiUpgradePlatformStm32_SetUpgradeRebootState,
.getUpgradeRebootState = DjiUpgradePlatformStm32_GetUpgradeRebootState,
.cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
};
T_DjiTestUpgradeConfig testUpgradeConfig = {
.firmwareVersion = {1, 0, 0, 0},
.transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
.needReplaceProgramBeforeReboot = false
};
if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
printf("psdk upgrade init error");
}
#endif
returnCode = DjiCore_ApplicationStart();
@ -291,8 +295,8 @@ if (DjiTest_UpgradeStartService(&stm32UpgradePlatformOpt, testUpgradeConfig) !=
}
while (1) {
Osal_TaskSleepMs(1000);
Led_Trigger(LED1);
Osal_TaskSleepMs(500);
Led_Trigger(LED3);
}
out:
@ -350,7 +354,8 @@ void DjiUser_MonitorTask(void const *argument)
// 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 (USER_UTIL_IS_WORK_TURN(runIndicateTaskStep++, RUN_INDICATE_TASK_FREQ_0D1HZ,
RUN_INDICATE_TASK_FREQ_1HZ)) {
#if (configUSE_TRACE_FACILITY == 1)
currentTaskStatusArraySize = uxTaskGetNumberOfTasks();
currentTaskStatusArray = osalHandler->Malloc(currentTaskStatusArraySize * sizeof(TaskStatus_t));
@ -379,9 +384,9 @@ void DjiUser_MonitorTask(void const *argument)
lastTaskStatusArray = currentTaskStatusArray;
lastTaskStatusArraySize = currentTaskStatusArraySize;
#endif
USER_LOG_DEBUG("used heap size: %d.\r\n", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize());
}
USER_LOG_DEBUG("used heap size: %d/%d.\r\n", configTOTAL_HEAP_SIZE - xPortGetFreeHeapSize(),
configTOTAL_HEAP_SIZE);
}
}

29
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

@ -34,29 +34,24 @@ extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
//#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
#define CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
//#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
//#ifdef USE_BOOTLOADER
//Attention: If you don’t need to upgrade, you can uncomment it and change flash size from 0x70000 to 0xD0000 to build all functions.
#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
#define CONFIG_MODULE_SAMPLE_CAMERA_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
#define CONFIG_MODULE_SAMPLE_XPORT_ON
//#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
//#endif
//#ifndef CONFIG_MODULE_SAMPLE_UPGRADE_ON
//#define CONFIG_MODULE_SAMPLE_GIMBAL_ON
//#define CONFIG_MODULE_SAMPLE_CAMERA_ON
//#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
//#define CONFIG_MODULE_SAMPLE_XPORT_ON
//#define CONFIG_MODULE_SAMPLE_PAYLOAD_COLLABORATION_ON
/*!< Attention: Please uncomment it in gps environment.
* */
//#define CONFIG_MODULE_SAMPLE_TIME_SYNC_ON
//#define CONFIG_MODULE_SAMPLE_POSITIONING_ON

1
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/stm32f4xx_it.c
View File

@ -192,7 +192,6 @@ void OTG_FS_IRQHandler(void)
/* USER CODE END OTG_FS_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

4
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/middlewares/ST/STM32_USB_Host_Library/Class/CDC/Src/usbh_cdc.c
View File

@ -146,7 +146,9 @@ USBH_ClassTypeDef CDC_Class =
QueueHandle_t ACMDataRecvQueue;
QueueHandle_t ACMDataSendQueue;
#if DJI_EXTENSION_PORT_SUPPORT
static uint8_t cdcBuff[1024];
#endif
void USBH_CDC_DataQueueInit(void)
{
@ -370,7 +372,9 @@ static USBH_StatusTypeDef USBH_CDC_Process(USBH_HandleTypeDef *phost)
CDC_HandleTypeDef *CDC_Handle = (CDC_HandleTypeDef *) phost->pActiveClass->pData;
if (CDC_Handle->data_rx_state == CDC_IDLE) {
#if DJI_EXTENSION_PORT_SUPPORT
USBH_CDC_Receive(phost, cdcBuff, sizeof(cdcBuff));
#endif
}
if (CDC_Handle->data_tx_state == CDC_IDLE) {

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx
View File

@ -358,7 +358,7 @@
<uC99>1</uC99>
<useXO>0</useXO>
<VariousControls>
<MiscControls> -DHSE_VALUE=8000000 --diag_suppress=188,177,550,940,66,546 --gnu -DUSE_BOOTLOADER=1 -DUSE_USB_HOST_UART=1</MiscControls>
<MiscControls> -DHSE_VALUE=8000000 --diag_suppress=188,177,550,940,66,546 --gnu --split_sections -DUSE_BOOTLOADER=1 -DUSE_USB_HOST_UART=1</MiscControls>
<Define>USE_HAL_DRIVER, STM32F407xx, SYSTEM_ARCH_RTOS=1</Define>
<Undefine></Undefine>
<IncludePath>..\..\..\..\..\..\..\psdk_lib\include; ..\..\..\..\..\module_sample; ..\..\..\common\osal; ..\..\application; ..\..; ..\..\hal; ..\..\drivers\BSP; ..\..\drivers\CMSIS\Include; ..\..\drivers\Device\ST\STM32F4xx; ..\..\drivers\STM32F4xx_HAL_Driver\Inc; ..\..\drivers\USB_HOST\App; ..\..\drivers\USB_HOST\Target; ..\..\middlewares\ST\STM32_USB_Host_Library\Class\CDC\Inc; ..\..\middlewares\ST\STM32_USB_Host_Library\Core\Inc; ..\..\middlewares\Third_Party\FreeRTOS\Source\include; ..\..\middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F; ..\..\middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS</IncludePath>