/** ******************************************************************** * @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 developer website 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******/